The Gait Research Of Teaching Hexapod Robot

This thesis addresses kinematics and makes some research on the elementary gait of the teaching hexapod crawler from Shenzhen Depush company named DRROB604, and thus gait is verified by simulating in the software and doing experiment on the hexapod.Firstly, by analyzing the mechanical structure of the hexapod named DRROB604, the thesis establishes the kinematics of the crawl locomotion for one leg of it, and then a whole kinematics of crawl locomotion which includes the inverse and forwards process of position is studied for the hexapod.Secondly, the thesis researches the approach to the elementary gait generation of the hexapod ,including the stand-still turning gait ,forward-walk gait and the crab-walk gait. Then the combined gait with by-pass gait and follow-line gait is derived on the basis of applying the gait researched above reasonably. Meanwhile, the parameters contained the maximal angle of stand-still turning gait ,the maximal stride of the forward-walk gait and crab-walk gait are proposed, as well as the angle of each joint which will rotate in each gait.Thirdly, a model of the hexapod is established in ADAMS which is a software and the gait parameters are ultimately brought into the simulation in ADAMS. Concluded from the simulation, the correctness of the gait generation is derived. Then the experiments are carried out after having prepared the program of the typical gait on the hexapod named DRROB604 and new parameters with compensation are given out by analyzing the motion error caused by the mechanical structure of the hexapod in the experiment. At last, the experiments verify the effectiveness of the work.Finally, the combined gait like by-pass gait and follow-line gait comes out by making good use of the stand-still turning gait, forward-walk gait and crab-walk gait. The control of the by-pass gait and follow-line gait is carried out based on the information collected through sensors.