The Research Of The Mechanism And Locomotion Mode Of The Locomotion Mode Robot Based On Screw Forms

According to the demand of emergency rescue system for natural disasters and man-made terrorist activities,this thesis researches and developes a special robot which can move in the complex terrain effectively with excellent passage of multiple movement mode based on spiral form.As a kind of reconfigurable continuum robot with multiple movement mode,which can adapt to a variety of complex ground environment,it can play an important role on the fields of scientific expedition,pipeline detection,battlefield reconnaissance,disaster relief,etc.First,through the study of the key characteristics of snake-like robot and spiral propulsion vehicle,Combined with the structural characteristics,A kind of special robot with multi motion mode based on the spiral pattern is designed and developed.The driving mode of the spiral roller is studied emphatically.Through continuous design analysis,the structure optimization of the special robot was carried out.Aiming at the characteristics of special robot structure,we analyze the kinematics of special robot,establish the kinematic model using D-H rule,solve and simulate the forward and inverse kinematics of the special robot.Simultaneously,we introduce the definition of Jacobian matrix,vectormultiplication method,differential transform method,and solve the Jacobian matrix with the vector multiplication method,and simulate the final result with mathematical software and 3D model software.We also solve the Jacobian matrix with differential transform method,and at last we test the vector multiplication method with the differential transform method,the analysis result supply a better way for the kinematic analysis of the robot studied by us.By using MATLAB to analyze the working space of the special robot,the space work condition of all joints is analyzed and judged accurately.The multi-locomotion mode of special robot is planned and studied,and five kinds of motion modes are realized and analyzed,and the attitude and control method of each movement mode is studied,and emphatically carries on the detailed analysis and the research to the spiral movement pattern.Aiming at the different working space and working terrain,the different mode of the special robot is transformed,which provides a theoretical basis for the control of special robots in the future.Finally,the experimental research on the multi-mode motion of the special robot is carried out,and using software to simulate and analyze multi movement mode.And the theoretical analysis is verified by the actual test,which verifies the correctness of the theoretical analysis.