Design of Foot Cam Vibration Damping System for Forest Walking Robot

With the rapid economic development, the degree of automation of processing machinery is getting higher and higher. People gradually began to attach importance to the level of mechanization and automation of forestry operations to improve the efficiency of forestry operations. However, my country’s forest terrain conditions and operating environment are more complex. The originally developed wheeled or crawler walking robots have many drawbacks. Although crawler walking machines are excellent in terrain adaptability, they have poor obstacle crossing capabilities. Therefore, there is an urgent need to design a new type of walking robot that can adapt to the complex ground environment in the forest to meet market demand. This article combines inertial positioning and visual positioning to reduce the impact of carrier jitter on positioning. Third, the three-dimensional grid map is constructed by using the octree model, which effectively reduces the consumption of storage resources. Finally, a path planning problem based on an improved A* algorithm is studied, including heuristic function design, dynamic weighted evaluation function design, and path smoothing. In this paper, the overall design of the mobile robot is carried out. The principle analysis of the cam damping mechanism is also carried out. The ANSYS finite element analysis and nonlinear calculation of the cam during the movement are carried out. The dangerous area and the deformation displacement of the cam mechanism are obtained. Pedestrian machinery has laid a theoretical foundation for stable walking in the forest. Research shows that the algorithm of this paper increases the length of the path and the number of turns when the scale of the forest map is large, but the search time of the algorithm increases by only 5–11 ms compared with the A* algorithm. The algorithm can take into account both efficiency and path length.