Gait's Plannig And Locomotion Simulation Of Geckorobot's Transnition Process Between Vertical Planes

Gecko is a quadruped animal that can transit flexibly between different normal surfaces such as ground,steep wall and ceiling.The previous gecko-inspired robots are able to climb stably on ground or wall,though the transition climbing has not realized yet.Therefore,the research on transition gaits between vertical surfaces has important significance.Firstly,this paper introduce and analyze both the foreign and domestic status of research on wall-climbing robot and transition gaits,analyze forward and reverses kinematics of the articulated leg mechanism based on the theory of kinematical analysis of robot,compute leg-motors' rotation ranges with D-H Parameters Method.According to the study of behavior and transition pattern of the gecko,this paper design gecko-robot's diagonally transition method.Secondly,this paper interpolate transition path of the gravity center of gecko robot,compute motor's rotation angle of the chosen key gaits,then compute and selecte the optimal stance position of the paw according to the fliterring rules,finally animate the whole transition process with Matlab;animate the transition process with 3ds MAX by using the key gaits as the key frame,exporte the scene file and compute the motor's rotation angle of every frame by using Euler Equations;build the virtual prototype of the robot was in the MSC.ADAMS and complete gaits simulation based on the motor data computed before.Finally,this paper animate the transition process with Matlab,3ds MAX and ADAMS,respectively.Compare the simulation results with the variation trend of gravity center,motor's rotation curve and mechanical relation of gecko's transition process.It shows that the rotation data of gecko-robot are highly similar to the related data of gecko,the data of transition process obtained from the simulation process will be feasible and advisable to gecko robot's the motion experiment in the future.