基于MATLAB的仿壁虎机器人天花板粘附运动仿真

摘要

Geckos have the dry adhesive feet that can provide the Vander Waals force, but it is quite difficult for gecko robot to move on the ceiling. Dynamic model of gecko robot is created with MATLAB/SimMechanic. A elastic damping model of the directional adhesive material on robot's foot is built. The crawling behavior of the robot on the ceiling is simulated with planned gait. The experiment results show that the robot can move we expected and the main perturbation in locomotion is induced by the change of alternation between the foot' s stance period and swing period. It provides references for the future experiment of gecko robot moving on the ceiling.%壁虎脚掌具有“范德华力”的干粘附特性,而实现仿壁虎机器人在负表面(如天花板)运动具有极高的难度,基于MATLAB/SimMechanic建立了仿壁虎机器人动力学模型.采用变弹性阻尼模型构建粘附力模型,模拟脚掌的粘附力各向异性.利用规划的负表面步态进行天花板粘附运动仿真,仿真表明仿壁虎机器人能按照预定的步态实现天花板的粘附运动,而天花板的非稳定性扰动来自脚掌粘附支撑相和脱附摆动相的交替处,为未来仿壁虎机器人天花板爬行实验提供仿真参考数据.