Large-scale Network Survivability Mathematical Association Model under Set Pair Analysis Theory

Abstract

With the expansion of the application field of robots, the use of eight-legged bionic robots to assist or replace human operations in various complex and extreme terrains is constantly being explored. This paper uses octopus as a bionic object, designs an eight-eccentric wheel walking platform, and studies its dynamics, kinematics and trajectory planning. This paper first investigates the development history and research status of multi-legged robots in many countries, analyzes the shortcomings of octa-legged robots, and proposes improved solutions on this basis. Through the bionic of the octopus structure, the Catia software is used to design and establish a three-dimensional model of the octopus-like eight-eccentric wheel robot. By importing the three-dimensional model into the dynamic analysis software Adams for simulation, after adding constraints, driving, torque and contact force, the various functions of the platform are simulated to obtain linear wheel walking, rotary motion, linear leg walking, the parameters of jumping motion and obstacle-crossing motion are drawn into tables for intuitive analysis, and virtual prototype simulation is used to verify the correctness of the established model and trajectory planning.The research in this paper lays a theoretical foundation for the development and application of this eight-eccentric wheel bionic robot.