Micro-miniature robot mobile mechanism design method based on collision driving

Abstract

The present invention discloses a micro-miniature robot mobile mechanism design method based on collision driving. The method comprises the following steps: the first step: cutting off a high-order vibration mode based on the modal analysis result and the modal superposition theory, and constructing a multi rigid body finite freedom degree of a flexible foot aiming at the mode of vibration and the frequency of the low-order mode; the second step: establishing a collision model of the flexible foot and the walking surface based on the Hertz contact theory and the Coulomb friction theory; the third step: building an experiment system to measure the changing of the flexible foot motion parameter caused by the collision, combining parameters for analysis and integration, and performing identification of the collision model parameters. according to the micro-miniature robot mobile mechanism design method based on the collision driving, the mobile mechanism employs the elastic deformation and vibration of the flexible foot to realize movement, the flexible foot can have collision with the walking surface while vibration under the restraint effect of the walking surface, and a matrix, the flexible foot and the walking surface form a collision vibration system.

Description

technical field [0001] The invention relates to a design method of a moving mechanism of a robot, in particular to a design method of a moving mechanism of a miniature robot based on a collision drive, and belongs to the technical field of intelligent electronic products. Background technique [0002] Nowadays, robots have entered various fields of life, such as pesticide spraying robots and picking robots for agricultural production, demining robots, reconnaissance robots and unmanned combat vehicles for military, as well as dual-arm robots for space exploration, Cardiac surgery robots for medical treatment, endoscopic surgery support robots, modular reconfigurable robots for disaster relief, snake robots, crawler rescue robots, entertainment robots for home services, vacuum cleaning robots, and weeding robots, etc. ; With the continuous development of technology, the development of robots tends to be miniaturized and intelligent. The characteristic scale of micro-miniature...

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Problems solved by technology

[0002] Nowadays, robots have entered various fields of life, such as pesticide spraying robots and picking robots for agricultural production, demining robots, reconnaissance robots and unmanned combat vehicles for military, as well as dual-arm robots for space exploration, Cardiac surgery robots for medical treatment, endoscopic surgery support robots, modular reconfigurable robots for disaster relief, snake robots, crawler rescue robots, entertainment robots for home services, vacuum cleaning robots, and weeding robots, etc. ; With the continuous development of technology, the development of robots tends to be miniaturized and intelligent. The characteristic scale of micro-miniature robots is small, generally only a few millimeters to tens of millimeters. In such a small space, the actuator, Actuators, sensors, controllers, energy supply systems, and communication systems are highly integrated, which is difficult to achieve with traditional methods