Cable-Driven Flexoskeleton Bionic Crab Robots for Beach Environmental Monitoring

doi:10.12068/j.issn.1005-3026.2024.10.010

Abstract

Abstract:

Environmental pollution has brought great changes to the marine ecology and will have a serious impact on human life. Investigation of bionic robots to monitor the beach environment in real time can effectively solve this problem. Therefore， a cable?driven flexoskeleton bionic crab robot is proposed. Firstly， a rigid?flexible coupling model is established to study the motion law of the flexible foot end. Secondly， control method of the bionic crab based on a mobile phone application （APP） is studied， and the response characteristics and motion characteristics of the bionic crab robot are experimentally studied. Then， the obstacle?crossing ability of the bionic crab on various beaches is tested， and multiple bionic crabs are controlled simultaneously to test the cluster control performance of the mobile phone APP. Finally， the robot is used to monitor six beaches in Bohai Bay and capture beach environment images and parameters. The research on the bionic crab robot provides an effective method for beach monitoring.

Key words: flexoskeleton, cable?driven, bionic crab robot, mobile phone APP control, beach monitoring

CLC Number:

TP 242

Xiao-ming CHEN, Da-chuan CHEN, Yu-qian ZHAO, Cheng LI. Cable-Driven Flexoskeleton Bionic Crab Robots for Beach Environmental Monitoring[J]. Journal of Northeastern University(Natural Science), 2024, 45(10): 1443-1451.

Figures/Tables 20

Fig.1 Plane beam element model

Fig.2 Schematic diagram of the bionic crab robot foot end transformation simulation model

Fig.3 Numerical simulation results of the bionic crab robot foot end transformation

Fig.4 Control system of the bionic crab robot

Fig.5 Rear object image of the designed bionic crab robot

Fig.6 Testing of the bionic crab robot

Fig.7 Assembly of the bionic crab robot

Fig.8 Control principle of the mobile phone APP

Fig.9 Motion of the bionic crab robot in the case of short range control

Fig.10 Response time of the bionic crab robot

Fig.11 Motion of the bioniic crab in the case of long range control

Fig.12 Change in speed of the bionic crab robot over time

Fig.13 Motion of the bioniic crab robot on soft and rugged beach

Fig.14 Relationship between the speed and time of the bionic crab robot on soft and rugged beach

Fig.15 Motion of the bionic crab robot on harden and rugged beach

Fig.16 Relationship between the speed and time of the bionic crab robot on harden and rugged beach

Fig.17 Control of two bionic crab robots

Fig.18 Control of three bionic crab robots

Fig.19 Real time collection of beach environment images

Fig.20 Collection of various environmental parameters in beachs

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