| The light and flexible sand Robert can not only complete the exploration of the deserts,grasslands,mountains and other complex terrain,it can also be applied to explore the surface of the moon or Mars.Since the current slip rate of sand Robert is still too high when it walks on soft sand,this article focuses on the mathematical model of wheel-sand interaction of the two dimensional motion C shape legs and according to the Terradynamics and the principle of bionics as well as the discrete element method,and the terradynamics Test achieved by interaction between wheel and sand,it revealed the mechanism of the wheel-sand interaction and provides the theory basis to optimize the two dimensional motion C shape leg.In this paper,we developed the two-dimensional motion structure of the C shape legs and the experimental platform for the study of wheel-sand interaction of the two dimensional motion C shape legs.Using Lab VIEW to build the data acquisition system based on PCI-6143 acquisition card,the situation of forced The rim of two-dimensional motion C shape legs in different motion states analysis and processing data acquisition point of force.By using the intelligent information fusion method of Support Vector Machine(SVM)and the fuzzy reasoning,and the experiment exploration method,it studies the sand Robert online identification and explores the maximum control strategy of two dimensional motion C shape leg bionic six-legged robot,and solves the self-adaptation control.To solve two specific problems:1.Change the original one-dimensional C shape legs into translational and rotational two-dimensional motion C shape legs By using the slippery course and the crank connecting rod mechanism without any increase in drive motor cases,which can overcome the shortcomings of too high slip rate of the C shape legs on the soft sand.2.Establish the mathematical model of two dimensional motion C shape legs two wheel-sand interaction. |
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