Study On Ball Obstacle-crossing Kinematics And Simulation Research Of Hexapod Robot

Hexapod robot has very strong flexibility because of many freedoms. Because of thediscrete stands and little touch with the ground, hexapod robot can choose optimal points on thereachable ground when crossing an obstacle. So it has stronger obstacle-crossing ability, betterobstacle-crossing stability, and higher efficiency, etc. Therefore, hexapod robot gets more andmore attentions by researchers nowadays. This thesis analyzes the kinematics when the hexapodrobot crosses the ball obstacle.This thesis investigates the kinematics of the obstacle-crossing of hexapod robot in settledobstacles model environment. The main work and results are as follows:1. A virtual model of the ball obstacle and hexapod have been established. The kinematicsof obstacle-crossing basic theory formula via adopting the unified reference coordinatesystem is achieved. The change of posture change, movement speed and acceleration inthe obstacle-crossing is analyzed, providing a theory basis for the subsequent research.2. At the basis of the correct theoretical of kinematics, the leg movement characteristics isinvestigated when hexapod robots climb the ball obstacle. The leg trajectory equationand path planning are deduced and planned.3. Two groups of gait for the hexapod robot climbing the ball obstacles are plannedaccording to the features of ball obstacles model and the gait design rules. The stabilityof two movement gaits are compared to find the better one for climbing the ballobstacle. Finally the efficiency of the process of obstacle-crossing is analyzed..4. Using special robot programming language GSL, the process of obstacle-crossing of ahexapod robot is simulated.This paper enriches the content of the obstacle-crossing of hexapod robot and providestheoretical reference for further research.