Tructural Optimization Design And Research On Posture Control Strategyof Biomimetic Hexapod Robot

With the development of science and technology, Robotics Research isgradually changing from the fixed-point operations in a structured environment toautonomous operation in unstructured environments, which requires that the robothas the capability of walking independently on unstructured terrain. The hexapodrobot has advantages such as good flexibility, high stability and wealth of gait, so itcan adapt to the terrain well and meet the need of walking on unstructured terrain.The purpose of this paper is to design and evaluate a modular, integrated andmulti-sensor biomimetic hexapod robot, which has full range of stable walking inunstructured environments. On this basis, kinematics analysis is done, and posturecontrol strategy is employed to improve the stability of walking.First，arthropods is used as bionic prototype, combined with considering aboutthe functions implementation of the robot and other practical factors, the overallhexapod robot mechanical structure design and the structural optimization of thelegs has been done. Structural design includes structural modeling from theperspective of bionics, design of the robot’s trunk following the goal of improvingflexibility and stability, and legs designed as modular and high-integrated with theoptimized parameters.With the hexapod robot developed, the D-H coordinate system is built up, at thesame time, and both the forward and inverse kine matics analys is of the robot’sswing legs and supported legs have been done. This work lays the foundation for thefollowing posture control strategy. The workspace analysis of hexapod robot’s swinglegs and trunk is also done, which provides the conditions for the hexapod robotmotion planning.Considering about hexapod robot walking stability, study on posture controlstrategy has been done. Posture control strategy is divided into two parts：First,posture adjustment strategy based on optima l posture is used and combined withcenter of gravity(COG) adjustment strategy to complete the robot postureadjustment; Then, posture balanced strategy based on force control is used toachieve robot’s stable walking; Hexapod robot’s posture control is achieved by thehybrid force/position control system. The study on posture control strategy laid thefoundation for hexapod robot motion planning and control.Finally, the mechanical structure model designed from pro/e is imported intoAdams/View environment, then the constraints and movement is set up, and simulation experiment of posture adjustment strategy is done. Then, adams model isimported into the Matlab, and the simulink control system is built up. Jointsimulation is done to evaluate the posture balancing strategy.