Research On Key Techniques On The Straight Walking Of Hexapod Robot

Nearly all the life-forms possess the walking ability to move around and theadvantages of walking over wheeled locomotion are quite obvious. Walking is veryattractive to us because it is quite adaptive to the uneven terrain and it has flexiblestructure to move if well controlled. We care about whether walking machines can bewidely used and developed, and how can we make use of its advantages and how torealize the high speed locomotion and flexible walking functions by a control systemwhich is better not to be too complicated.This paper presents a biologically inspired design of a mammal-like six-leggedwalking machine which has 12 degrees of freedom. The cursorial mammal legs bringthe advantages of fast mobility with long stride and high movements and also biggercarrying capacity due to the stand-up style.At the initial stage of this study, the straight walking ability is focused. We havedesigned the walking gait according to its special structure and validated itscorrectness through computer simulations. Finally we successfully built the modelwalking machine. This prototype model can be the testing object in the furtherresearch.The whole dissertation has six chapters.The first chapter is the survey of the current research status, applications anddevelopment of hexapod walking robot. The purpose and the task of this project arealso introduced in this chapter.In chapter two, we build a simple mathematical gait model and deduce the kinematicfunction of motors. Through curves of motors, we have explained how we design themotion of motors.In chapter three we build a model in ADAMS and run the simulation to check thevalidity of the kinematic model. And through simulation results we also discuss theoptimization of structure parameters of the walking robot.Chapter four introduces the detail of making the prototype walking machine in 4 parts.They are: mechanical design, control strategy design, electrical design and softwareprogramming. Finally we accomplish the straight walking test of prototype machine.In the last chapter, the research contents and conclusion of this paper are summarized,and the prospect of further studies on this project is opened up.