Research On The Key Technology Of Inchworm Robot Motion Based On Pneumatic Sucker

With the rapid development of technology,our living environment is also undergoing tremendous changes.The concentration of industrialization and the increase of population density promote the building to continuously increase or extend downward,so there are many places that are inconvenient or inaccessible for people,and these places can be reached by robots.At present,one of the most popular research directions of robots is the development of robots with unconventional structure.By reducing their redundant structure and volume,and increasing the corresponding functional structure,robots can replace people in places that are not suitable for people to work.In this paper,an inchworm robot suitable for climbing is developed.First of all,aiming at the tentacle contact structure of inchworm robot,a vacuum sucker structure of octopus-like sucker is designed,and a sucker control method based on MPC control is proposed.Secondly,according to the motion posture of inchworm,a crawling robot structure simulating inchworm motion is designed,and a variety of motion posture planning based on this structure is proposed.Then,the hardware system and software system of inchworm robot controller are designed.Finally,the key functions of the robot are tested experimentally.The experiment verifies that the inchworm robot based on pneumatic suction cup can move on the plane of different materials.The main research contents of this paper are as follows:(1)The negative pressure suction cup of octopus is designed,and the control model of suction cup is proposed.Under the control of negative pressure,the adsorption pressure of the suction cup can be adjusted to meet the demand of the torso structure movement for the adsorption force.(2)A bionic sucker control algorithm based on MPC is proposed.The algorithm adjusts the suction force of the suction cup by adjusting the flow rate of the vacuum pump.(3)A bionic sucker inchworm robot is designed.Its trunk structure is installed with four longitudinal servo motors and two transverse servo motors,which can realize"Ω"type movement gait and turning gait.The motion gait planning of MPC-BSC is proposed to realize"Ω"type motion gait and turning gait.(4)The hardware system of inchworm robot controller is designed.Including the main controller circuit design,power module design,servo motor drive circuit design,solenoid valve control circuit design,vacuum pump drive circuit design and other sensor circuit design.(5)The software system of inchworm robot controller is designed.It includes the software module design of motion gait based on MPC-BSC,the software module design of driving vacuum pump,the software module design of I~2C communication device and the software module design of Wi Fi communication.(6)The performance of the bionic suction cup was tested,and the effect of the edge structure on the adsorption force of the bionic suction cup was verified;The feasibility of the bionic sucker control algorithm based on MPC is tested by simulation;The experiment verifies that the inchworm robot can realize the"Ω"type gait and turning gait on the plane with different inclination angles and different materials.