The Analysis And Design Of Hexapod Bucket Robot

A kind of hexapod bucket robot was designed,the robot can be used in the affected places to complete clearance,moving important material,isolating flammable and explosive objects and other rescue operations.According to bionics theory,the layout and configuration design of the hexapod bucket robot was finished,the 3D model of the hexapod bucket robot was established.Kinematics of the leg mechanism was analyzed,such as the forward and inverse solution of the position and Jacobian matrix is solved.Based on the inverse position,the influence of the main geometric parameters to the work space was analyzed.And based on Jacobian matrix,the motor performance and of the leg mechanism was also analyzed.The static analysis of the hexapod bucket robot was analyzed.First of all,the force Jacobian matrix was solved,and the bearing capacity of the leg mechanism was studied.Second,taking the interactive triangle gait as an example,the static model of the robot was the established,then the normal force of foot-end was solved,the influence of the step on foot-end normal force was analyzed.Finally,the shovel force of the bucket to the material supplies was analyzed,too.The interactive tripod gait was established,and the static and dynamic stability of the robot was analyzed,the walking track of the foot-end was planned,Virtual Prototype Simulation of walking on the ground,turning the around,Shoveling and unloading materials was finished.This hexapod robot has extensive prospects in rescue areas,lays the foundation for the future expansion applications of the hexapod robot.