| Hexapod robot has gotten more and more applications in outer spacedetection,disaster treatment, military reconnaissance,and other fields.In this paper,thehexapod robot is designed creatively by applying a parallel mechanism as leg motorunit on the basis of the successful experiences at home and abroad,which has a goodeffect on increasing the carrying capacity and stability of the hexapod robot.The hexapod robot,as a stewart platform parallel mechanism, has two mainfeatures: walking function and various operating functions. The characteristics of thehexapod robot’s structure, through the Position analysis and kinematic analysis, areelaborated as a operator to draw the inverse position equation of themechanism.Finally combined with the various constraints,the three-dimensionaldistribution diagram of the workspace of the moving platform is obtained by matlab.Analysis of the kinematics performance: the position analysis and kinematicsanalysis of the two parts of the moving legs which are divided into supporting legsand swing legs are carried on separately to draw the inverse position equation of thecorresponding structure.The hexapod robot ‘s gait is designed according to the priciple of bionic andthe its Stability has been proved by the dynamic and static analysis.The foot trajectory of hexapod robot is planned and the motion simulation ofvirtual prototype is also accomplished. The simulation results demonstrate, that theparallel robot’s operating process is stable and continuous which is proved by therobot kinematics curves, and also verify the feasibility of using a parallel mechanismas the legs of hexapod robot... |
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