Kinematics analysis and sensor calibration of a wormlike crawling robot

摘要

The first generation wormlike crawling robot has 8 ropes providing pulling force to change relative position of segments and to accomplish crawling movements. In order to solve problems of rope breaking, force control and length control of ropes appear in trails, the characteristic of pure rolling is studied and kinematics equations are established firstly. The relationship of length and force of rope is described in the kinematics equations, which lays a theoretical foundation for the control of force sensor. Proper force sensor is selected. Moreover, the software and hardware of calibration system are designed. Finally, the trail result of force sensor validates the feasibility of force feedback control system.