Design and implementation of a dual-drive bionic crab robot

被引：0

作者：

Liu, Kai ^{[1
]}

Yang, Haiyue ^{[1
]}

Wang, Liang ^{[1
]}

Li, Ruiqin ^{[1
]}

Qin, Huibin ^{[1
]}

机构：

[1] North Univ China, Sch Mech Engn, Taiyuan 030051, Peoples R China

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2024年 / 46卷 / 07期

关键词：

Dual drive; Klann link; Bionic crab robot; Gait planning; Stability analysis;

D O I：

10.1007/s40430-024-04963-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This design proposes a bionic crab robot with eight bionic legs and two front claws that is designed to realize the complex movements of the robot can be achieved using two electric motors. In this design, the eight legs of the robot walking mechanism employ an innovative Klann crank rocker. Two sets of 5R-2P linkage mechanism are used as the gripping arm of the crab robot, and two sets of 3R-1P linkage mechanism are used as the claw clamp of the crab robot. In this paper, a 3D digital prototype model of a dual-drive bionic crab robot is meticulously designed. The walking gait of the robot in straight running and turning is analyzed experimentally. The stability margin method is used to calculate and analyze the stability of the robot under static and dynamic conditions. Combining ADAMS and MATLAB/Simulink, the kinematics model of the robot is established and simulated. Experiments of straight running and obstacle avoidance are carried out for the prototype crab robot. The dual-drive bionic crab robot has a carefully designed structure that is capable of stable movement along a specified gait trajectory. The dual-drive design provides a solid theoretical basis for the development and practical application of this kind of robot.

引用

页数：15

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