Research On Motion Mode And Control System Of C-legged Desert Robot

With the continuous exploration and development of desert resources,the movement capability of desert mobile detection equipment has become one of the key technologies that restrict desert detection and operation.Traditional wheeled and crawler robots have excellent trafficability in environments such as dirt and gravel,but their ability to adapt is greatly reduced in the unstructured ground environment of the desert.Foot robots modeled after natural reptiles can design different sports gaits for different road surfaces with high flexibility.This paper designs a hexapod C-legged robot capable of accomplishing specific tasks in a desert environment by observing the way the lizards crawl in the desert,using bionics techniques,and combining the characteristics of wheeled and footed robots.Firstly,the motion model and force characteristics of the C-leg in the sand are analyzed,the tripod gait motion characteristics of the hexapod C-legged robot in the desert are studied,the robot can adjust the size of the following angle to change the depth of the leg to achieve better motion property,it is also necessary to improve the size design of the robot's leg structure,transmission,and overall layout to meet the basic mechanical structural requirements of the robot.Secondly,the STM32VET6 model microcontroller chip is used as the control core,combined with DC motor,servo motor driver,communication module and various sensor modules,the circuit connection and communication network connection between each functional module are built,the hardware of hexapod C-legged robot control system is constructed.Thirdly,on the basis of the control system hardware,the basic driver configuration is completed and the data connection at the software level is realized,Aiming at the forward,backward,left turn and right turn of the tripod gait of the c-legged robot,the corresponding leg phase control algorithm is designed,the data receiving process of the microcontroller USART and CAN interface is given,and the software part of the hexapod c-legged robot control system is established.Finally,LabVIEW is used as the development environment to design a remote monitoring platform for the hexapod c-legged robot,which issues control instructions to the robot and monitors part of the state data of the robot to realize the human-computer information interaction function.The hexapod C-legged robot is mainly composed of mechanical structure,control system hardware,control system software and remote monitoring platform,the combination of the four parts makes the robot run smoothly in the desert.Combined with the leg characteristics of the hexapod c-legged robot,the robot can adjust the following angle to adapt to different desert environments,this robot has certain reference significance for the development and research of mobile robot facing the desert and other complex ground.