Research On Multi-terrain Motion Control And Energy Consumption Of Hexapod Robot

The hexapod robot has the advantages of strong mobility and high adaptability of complex terrain environments.It can be widely used in post-disaster rescue,environmental monitoring,interstellar detection,and other fields,which has become a research hotspot.However,the existing research focuses on the structural design and gait control of the hexapod robot,and the research on energy consumption during the movement is slightly insufficient.In this thesis,aiming at the lack of energy research on the curved legs hexapod robot,as well as the requirements for maximizing terrain adaptability and minimizing energy consumption,we have developed a curved legs hexapod robot that can adapt to various complex terrains,has low motion energy consumption and compact structure.By designing the whole structure of the hexapod robot,analyzing its movement gait under multiple terrains,studying the optimal control of energy consumption of its gait,and combining simulation and experimental testing,the reliability and practicability of the prototype are verified.The specific research work of the thesis is as follows:(1)The whole system design of the hexapod robot.Based on the idea of structural modularization,the robot's overall mechanism is designed,including the optimized design of the curved legs and the structure design of the drive module of the motor-synchronous belt-coupling.With the goal of high real-time control,a hardware control system was designed and built,including the design of the STM32 controller and the design of the M3508 motor drive module.Simultaneously,based on the position PID controller,the robot's underlying software control system was developed.The motion control structure composed of the decision-making layer,the planning layer,and the execution layer was designed,and the whole machine motion control design was completed.Which provides a basis for subsequent theoretical analysis and prototype development.(2)Gait planning and dynamic characteristics analysis of hexapod robot.Based on the hexapod robot's multi-terrain motion environment such as flat ground,stairs,slopes,etc.,the gaits of straight walking,turning,climbing stairs,and slope climbing are planed,the dynamic characteristics of the four gaits are analyzed,and the four gaits are analyzed and ADAMS kinematics simulations are performed on these four gaits.The research results show that the robot's gait planning for going straight,turning,climbing stairs,and climbing slopes is reasonable and can adapt to various terrains well.Decreasing the period and increasing the support phase angle?_s can increase the movement speed,but increasing?_s reduces the movement stability.The motor torque increases as?_s increases.The support phase's torque is relatively large,while the swing phase's torque is close to zero.(3)Research on energy consumption optimal control of hexapod robot.According to the dynamic model and energy consumption model of the hexapod robot,a polynomial motion curve is designed.The energy consumption optimization modeling of the robot's gait on flat and slopes is carried out,and the coefficients of the optimized trajectory curves are solved based on the MATLAB genetic algorithm.The conventional motion trajectory curve is planned,and the influence of different trajectory curves and gait parameters on energy consumption is studied through theoretical analysis.The research results show that the energy consumption rate of the optimization curve is the lowest,which verifies the correctness of the energy optimization modeling;the larger the?_s,the greater the energy consumption rate;the greater the slope angle,the greater the energy consumption rate.(4)Prototype construction and experimental research of the hexapod robot.Based on the previous theoretical analysis,the model selection and calculation of the robot's key parts and the production of some parts are researched,and a prototype of the curved hexapod robot is built.We carry out adaptability experiments under complex terrains such as flat land,sandy land,grassland,chaos,slopes,stairs,etc.,as well as energy consumption test experiments under flat land and slope terrain.Adaptability experiments under complex terrain such as flat land,sandy land,grassland,chaos,slopes,stairs,etc.,as well as energy consumption test experiments under flat land and slope terrains are carried out.The experimental results show that:1)The robot can adapt to a variety of complex terrains and has high motion performance;2)The robot can move at a maximum speed of 0.53m/s on flat,and can climb a slope of up to 35°with slope climbing gait.The robot can climb stairs with a maximum angle of 26.9°,and climb obstacles of up to230mm by adopting stair climbing gait;3)Using different trajectory curves,periods,support phase angles,and slope angles to conduct flat and slope energy consumption experiments,the torque and energy consumption rate will be different,but the torque and energy consumption rate obtained from the experiment and theoretical analysis are close.