Abstract
The four-legged bionic robot for agriculture has been one of the hotspots in the field of robotics. The farmland environment is complex, and the balance requirement of quadruped bionic robot is higher. However, head adjustment is a key factor affecting the balance of quadruped animals. Based on this, this study takes the four-legged animal goat as an example to investigate the effect of goat head movement adjustment on the balance of goat. In this study, the head and neck of goats were simplified to a two-link model. The kinematics model was established by D-H method. MATLAB software was used to solve it. Origin software was used to draw the movement track of the center of mass of the head. The center of mass movement of the head is a quarter ellipse. Then, the goat walking experiments were carried out on the different slopes (0°, 5°, 10°, 15°, 20°, 25°, 30°, 35° and 40°). MATLAB software was used to fit the movement data of goat head. The movement of the center of mass of the goat's head corresponds to Fourier 6. The result is: the determination coefficient is 0.8629, and the mean variance is 0.019. When the slope gradient gradually increases, the volatility gradually increases and is cyclical. The results of this study verify the rationality of the four-legged bionic mechanism under various parameters and reveal the mechanism of goat walking with an appendage at the head. Keywords: bionic four-legged robot, slope, head, center of mass, trajectory, balance DOI: 10.25165/j.ijabe.20191204.4287 Citation: Zhang F, Wang Y F, Teng S, Zheng L M, Wang J J, Chen Z J. Development of agricultural bionic four-legged robot: Effect of head movement adjustment on the stability of goats. Int J Agric & Biol Eng, 2019; 12(4): 10–15.
Highlights
Bionics is a special capability to imitate biological functions and uses biological structure and functional principles to develop relevant equipment of science and technology
Some scholars investigated the mechanism of the movement between the head and tail adjusting device and the robot body on the basis of kinetic analysis and bionics observation
Tail as the adjustment device to improve the dynamic performance of four-legged robot exerts a positive effect and provides a basis for the study of head-regulated movement[11,12]
Summary
Bionics is a special capability to imitate biological functions and uses biological structure and functional principles to develop relevant equipment of science and technology. Some scholars investigated the mechanism of the movement between the head and tail adjusting device and the robot body on the basis of kinetic analysis and bionics observation They proposed the control strategy of the head and tail adjusting device. Tian et al.[13] installed a centroid adjustment device in the quadruped robot body, which can attain two-dimensional movement in the horizontal plane, by planning the trajectory of the center of mass to keep it inside the supporting polygon This system achieves a stable gait movement during walking, thereby providing the basis for studying the center of gravity control of goats. The leg length and centroid change of the model were calculated and simulated, and the comparison and analysis were made Their results showed that the tail can significantly affect the jumping attitude and leap of the mechanism and can alleviate the ground impact force. Some researchers determined whether the tail acts as a balance during the movement
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