Theoretical And Experimental Research On Bionic Contact Dynamics Of A Claw-like Flying Wall-climbing Robot

Due to the limitation of energy capacity,the flight robot cannot complete longterm and complex missions.Giving the aircraft a landing and climbing function is one of the most important methods to solve this problem.In order for the flying wallclimbing robot to be applied to alien exploration or urban artificial rough walls such as concrete and granite,it is required that the landing habitat and climbing mechanism can adapt to multi-granular,multi-dust and rough unstructured natural surfaces.However,the existing attachment methods such as vacuum,electromagnetic and slime cannot be applied to unstructured surfaces,and the attachment methods of spine are also limited to bulky pure wall-climbing machines.Studying the contact-impact bionic dynamics caused by the landing of the spine flying wall-climbing robot has been a cutting-edge subject in this field.This paper studies the contact-impact dynamics mechanism and gait algorithm of a flying wall-climbing robot by using self-locking theory,finite element numerical computation and experimental methods.The prototype of the robot verified the theoretical results by experiments.The specific research contents and innovations are as follows:(1)Based on the claw structure of insects and birds,the grasping mechanism of the bionic mechanical model is studied using the dynamic friction self-locking theory,and the design standards for climbing mechanisms are obtained.Design the small mechanical structure of the flight system,wall climbing system and spine structure,as well as new transmission methods,stepping methods and landing methods to achieve the functions of flight,landing and climbing.(2)The gait algorithm in the climbing process is designed.The C programing language is used to compile the flight and climbing algorithms and write them to the microprocessor at the same time.The python programing language is used to compile the robot's host computer software,and the robot's behavior is controlled by the gamepad and parameter adjustment.Through the processing and feedback of the acceleration sensor data,a safe climbing algorithm is designed to enhance the climbing stability of the robot.(3)A contact-impact model of flexible multibody system is proposed,and the dynamic behavior of the landing and habitation is studied.Based on this model,the dynamic responses such as kinematics,contact force,and structural stress during landing are simulated and calculated.Based on the analysis of the simulation results of different speeds and flight attitudes of the robot before landing,a feasible initial state before landing is proposed,that is,the speed is between 200-400mm/s and the acceleration is maintained.Methods to reduce the negative response of the robot when it happens collision and structural optimization methods is proposed.(4)The first spine-type flying wall-climbing robot prototype in China with light weight,low energy consumption,and long working hours is achieved.The static experiments of the spine,robot flight-landing experiments,and climbing experiments are carried out.Robot movement is monitored and optimized by gyroscopes and acceleration sensors.Through the statistics of experimental data,the best stride rate and the best initial state before landing are obtained,and the accuracy of the theoretical and simulation results are verified.This robot weighs 43 g and has a maximum climbing speed of 6.3cm/s,which is lighter and faster than the current spine wall-climbing robot.