Design And Simulation Of A Hydraulic Hexapod Robot

To satisfy the increasing demand of science and society, the fields in whichrobots are applied are rapidly expanded. It must be a trend that robots will replacehuman labor in the future. Under special working conditions (mining, lumbering,rescuing after disaster, space exploration, under water exploration and so on)withunstructured and uncertain ground, the highly adaptability of robots to suchconditions are required. Hexapod robots, of which the landing points are discretepoints and the limbs are highly redundant, are suitable to work under these conditions.Featured with high specific power, hydraulic driving can improve the flexibility andloading capacity of hexapod robots. To meet the requirements of materialtransportation under special ground conditions, a large hexapod robot with completehydraulic driving is designed in this paper. The rationality of the mechanical structureand the compatibility of the hydraulic system are verified by virtual simulationanalysis. The results provide certain technical assistance to the manufacture ofphysical prototypes. The frame of this paper is organized as follows:Firstly, the leg structure and driving methods of multi-legged walking robotsareclassified andanalyzed specifically, which provides basis for the choice of legmechanisms and structure design of robots.Secondly, the movement features of hexapod robots are analyzed. The positiveand inverse kinematics equations of swinging and supportingitems of robots areestablished using the method of coordinate transformation. And the typical two gaits,three gaits and six gaits for the hexapod robot are planned.Thirdly, considering the working condition requirements of robots and imitatingthe structure of insects, a complete hydraulic driving robot is designed in this paperbased on the advanced hexapod robots and mountain exca vator technology at homeand abroad. Hydraulic system and power system are designed according to thestructure features and task requirements. Finally, virtual simulation model of the hexapod robot is built. The robot issimulated by taking the two gaits as an example. The simulation analysis has verifiedthe rationality of mechanical structure and hydraulic systemdesign. Meanwhile, thechanges of flux and pressure of hydraulic driving system, the force allocation of feetend and the acceleration features in the process of robot movement are acquired.