A Research On A Coordinated Motion Control Method For The Multi-legged Climbing Robot

As a kind of special robot, mobile robots fuse the theory and technology of multiple disciplines, which have a variety of characteristics and advantages. The hexapod wall-climbing robot is a mobile robot, which has the characteristics of multi-redundancy, multi-branched-chain and time-varying topology as a form of motion mechanism. The robot has a very important research significance and practical value, which can to be used not only in the field of nuclear industry, architectural, transportation, petrochemical and fire but also in the other fields.For the multi-legged mobile robot in complex environments, such as at the bottom and the side of the bridge, this paper analyzes the problems associated with structure, control, kinematics, dynamics, foot-force distribution, stability and gait planning of the robot, and the research work has been carried out along these lines.Firstly, the paper introduces the current development of the wall-climbing robot at home and abroad, as well as discusses the implementation of the two basic functions for the wall-climbing robot. The body structure of the wall-climbing robot in this topic has been introduced, including the major component of the design and implementation. Moreover, the paper introduces the hardware and software systems of control.Secondly, this paper introduces the most common D-H notation, and then extends the research to the forward kinematic and inverse kinematics. Besides, this paper analyzes the kinematics of the leg joint of the spider, and a forward and inverse kinematics equations of the spider are deduced. Finally, this paper analyzes the safety of the spider.Lastly, the duty cycle of the multi-legged mobile robot is analyzed, the static stability is determined and the method of gait control is proposed. Afterward, the three walk gaits including the straight-walking-gait, turn-gait and ground-wall transition gait have been planned. Moreover, this paper uses the simulation software ADAMS modeling of the robot body, accomplishes the dynamic gait simulation analysis of the robot through parameter settings. The results provide a basis for the development of the physical prototypes, demonstrates the advantages of virtual prototyping technology, which plays an important role in reducing the risk of actual physical prototyping.