Research On Laterally-Walking Gait And Stability Of Hexapod Robot

As a research hotspot of robotics, hexapod-robot technology is always concerned by many researchers. Comparing with other walking robots, hexapod robot has superior movement performance, better terrain adaptability and excellent stability. According to the design mechanism of hexapod robot, a kind of laterally-walking gait is planned based on the theoretical analysis, and its stability analysis is also done in this paper. The relation between motion parameters and movement performance is studied by kinematics simulation of the gait planned. A physical prototype experimental platform of hexapod robot is built and debugged at the same time.Firstly, in order to build the physical prototype, the original virtual hexapod robot prototyping is optimized, some appropriate improvements are done, and the merit of six-DOF at each leg is retained. Then some appropriate drive devices are also selected for each joint. After accomplishing the machining of mechanical parts, a physical prototype experimental platform is built. The workspace of leg is solved, and this proves that the mechanical design is reasonable. The kinematics equation of hexapod robot is established, and the inverse and forwards kinematics of swing leg and supporting leg are also solved for further research.Secondly, a kind of laterally-walking tripod gait for the hexapod robot is planned, and its stability is analyzed at the same time. At present, research about laterally-walking gait of hexapod robot is limited. In this paper, on the base of deep research of hexapod's walking mode and the motion mechanism of hexapod robot, a kind of laterally-walking gait is planned based on overall planning, gait analysis, the maximum stride length calculation and foot trajectory planning etc. After completion of gait planning, the calculation and analysis of walking stability on level and slope ground are respectively done by using different methods.Finally, the walking capability, stability and continuity are validated by laterally-walking gait simulation based on virtual prototyping technology. The angle curve of each kinetic joint is drawn, which could provide foundation for physical prototype experiments. At the same time, the influence of motion parameters on movement performance is also studied by simulation method, and some changing laws of angular velocity with stride and height of step are obtained. Physical prototype of hexapod robot is successfully debugged, the results show that the motion capacity and the feasibility of drive devices are agreeable.