Study On Anti-Slip And Buffer Characteristics Of Goat Foot And Design Of Bionic Foot

Study on Anti-slip and Buffer Characteristics ofGoat Foot and Design of Bionic FootThe motion theory of the quadruped robot is improving day by day,and the research results at home and abroad are abundant.The four-footed robot can basically realize the movements such as running on the ground,walking on the slope and climbing the stairs on the structured road.However,the walking stability of a quadruped robot's complex road surface is still far from the quadruped.This paper starts from the design of the key parts of the stable walking and the design of the foot of the four-footed robot.The goat's foot is used as a bionic prototype to observe its movement characteristics and structural morphology,study its anti-skid and cushioning mechanism,and design the bionic foot.The quadrilateral robot foot end design with anti-skid cushioning characteristics provides theoretical and technical support.The high-speed camera system is used to observe the movement of the goat's foot,and a complete motion cycle is subdivided into two periods and four stages,and the states of different stages of the mountain foot are described in detail.Using the Belgian high-frequency pressure plate test system Footscan,the pressure distribution characteristics of the sole of the goat were studied.The results showed that when the goat was walking at normal speed,the forefoot and hind foot received the maximum vertical reaction force of the ground,accounting for 67.5% and 37.5% of the body weight,respectively;In one exercise cycle,the foot of the two legs of the hind limb is almost the original support point of the forelimb,and the repetition of the whole movement is high;In one exercise cycle,the foot of the two legs of the hind limb is almost the original support point of the forelimb,and the repetition of the whole movement is high;Within the test range,the peak pressure of the sole of the left forefoot of the goat increased from 57.5% of its weight(slow walking)to 92.5% of its its weight(diagonal trotting),while the pressure of the hoof ball increased from 52% to 78%.The appearance of the goat's foot was described,and the role of different structures in the movement process was analyzed.The opening of the goat's hoof can hold the rock firmly,and the closure can be stuck in the stone seam like a nail,which can both slip and help to find the foot.The sole is concave inward and concave,which acts as a soil to limit the flow of soil underneath.The important geometrical dimensions of the goat's foot were measured,and the foot was subjected to a general anatomical test,indicating that the appearance and internal structure of the goat's foot conformed to the general cloven-hoofed animal model.Scanning electron microscopy was used to observe the characteristic parts of the hoof.It was found that a large number of pores were distributed in the cross section of the hoof wall.The pore diameter increased from the outer to the inner wall along the wall thickness,the ratio of the long and short axis gradually decreased,and the pore gradually changed from elliptical to circular;The longitudinal section of the hoof ball is mainly divided into two layers.The upper layer contains a plurality of inclined pore structures,arranged in a honeycomb manner,the pore diameter gradually decreases from top to bottom and finally disappears,and the lower layer is a dense entity,and any special structure is found;The hoof ball structure is divided into subcutaneous tissue,dermis layer and epidermal layer from the inside to the outside.The subcutaneous tissue of hoofball consists of fatty lobular leaves and loose connective tissue,which distributes a large number of fat cells;the dermis dermis layer is divided into a reticular layer and a nipple layer from the inside to the outside;the hoof ball epidermis is divided into basal layer and spine cell from the inside to the outside.Layer,granular layer,transparent layer and stratum corneum.The three-dimensional model of goat's foot was reconstructed by reverse engineering technique,and the finite element analysis was carried out.The anti-slip performance of the irregular shape of the foot in soil and rock ground was studied.The results showed that the goat's foot had good anti-slip characteristics.Based on the microstructure of the hoof ball,a layered three-dimensional buffer model was constructed,and the finite element analysis of the model and the ground collision was carried out.The results show that the hoof ball structure has good cushioning characteristics,and the different layer structure can automatically adjust the impact according to the magnitude of the ground reaction force.The absorption ratio of force.Taking the goat's foot as a bionic prototype,the bionic foot was designed according to its motion characteristics and morphological structure.The SolidWorks and RecurDyn software were used to realize the 3D model construction and simulation analysis of the bionic foot.The results show that the bionic foot runs smoothly during the interaction with the ground,the joint 1 produces a large rotation,and the joints 2 and 3 rotate less;The bionic foot can play a non-slip buffer through the adjustment of the joint,effectively reducing the internal stress of each component.