Design And Control Of Six-legged Robot With Wheel-rolling Locomotion

With the development of wheeled and legged mobile robots,improving obstacle crossing ability and terrain adaptability has become an important research direction.In this paper,a six-legged robot with wheel-rolling locomotion is proposed.It is expected to overcome the poor adaptability of traditional wheeled mobile robots to terrain and have stronger obstacle-crossing ability.In response to the above problems,this paper presented a kind of six-legged robot with wheel-rolling locomotion whose structure is simple.the robot has six compliant legs,which is divided to two groups and symmetrically distributed on both sides of the body and move forward with wheel-rolling mode,it can effectively reduce the ground impact force and the vibration.This robot which combines the advantages of wheeled robot and leg robot can not only adapt well to the environment but also have good mobile performance.In terms of kinetic analysis,this thesis studies the movement principle and balance principle of the six-legged wheeled mobile robot,and clarifies how the robot realizes alternate support and bouncing flight,how the body posture change and how energy change during the landing process,and how to realize the coordinated movement of each leg;the motion of the robot is decomposed into two single input systems:the pitch direction and the roll direction,the dynamic modern is carried out with lagrange equation,and controllability and observability are analyzed.In the aspect of control system design,this thesis uses a multi-loop PD control method to realize the attitude and motion control of the robot.The parameter adj ustment and numerical simulation of PD control are carried out by using MATLAB.The whole control system is simulated by SIMULINK.On the Adams platform,the control method is verified.The simulation results show that the robot has good mobility characteristics,and the design is reasonable and feasible.In the aspect of software and hardware design,the main control chip,sensor,drive motor and drive device of the robot were selected and designed,and the hardware structure block diagram of the whole robot system was designed.The software design was also carried out,mainly some main program design,such as sensor.Information acquisition,servo motor drive,etc.Finally,the closed-loop control experiment of the drive motor was also carried out.