Gait Simulation Of Six-leg-wheeled Robot

Mobile robots are not only required to adapt to the known and structured environment, but also the unknown and unstructured environment. Six-leg-wheeled robot adapts terrain very well and has an ability of barrier-crossing.This kind of robot has become increasingly widely used in outer space exploration,disaster management, military reconnaissance,and other areas.As the important part of the mobile robot locomotion, the gait can affect the performance of the entire movement of the robot directly. Therefore, to study the gait of six-leg-wheeled robot has both theoretical and practical significance.The mainly work of this paper are as follows:(1)Based on the analysis of research status and development trend of bionic multi-legged walking robot. According to bionics,alternating tripods is adopted for walking mode.(2)The dynamic and static stability of the robot is analyzed, and recommend a new stability analysis method.(3)Study the state of motion of the robot, including two way :straight and turn.During the motion robot’s legs are divided into supporting legs and swing legs,the position analysis of the moving legs are carried on separately.(4)Use three-dimensional modeling software Pro/E to establish a simplified model of the six-leg-wheeled robot.Combined with the simulation software ADAMS to carry on the movement simulation of the robot.Completed the foot trajectory planning of the robot and the motion simulation of virtual prototype is also accomplished. Proved that the robot motion is stable and continuous.