Research On Six-Biped Walking Platform With Strong Obstacle-crossing Capability

The advantage of walking mechanism lies in better mobility and adaptability to complex topography than other moving mechanism. Compared with multi-DOF open-chain leg mechanism, single-DOF closed-chain leg mechanism is able to meet the same or more complex functional requirements and lower the control cost.A sixfold-bipedal walking platform is proposed on theoretical research, which combines6-bar and8-bar (high-leg) leg mechanism. Single leg of the hexapod platform composed of a pair of the same structure legs is replaced by leg-group. In order to achieve the basic functions of walking and obstacle-climbing, walking component is designed with four6-bar leg-groups, and obstacle component designed with two8-bar leg-groups. Strong obstacle-crossing capability is achieved by combining the mixing bar leg structures and reasonable gait planning.Virtual prototyping technology is used to build and simulate the platform model. The condition of walking stability is determined by calculation. In the condition of conventional road, the progresses of walking straight and differential steering are analyzed. The obstacle-crossing capability of the platform is analyzed in the situation of walking up and down ramps, climbing vertical walls and crossing trenches. Solutions of obstacle-crossing in different sizes are designed, and it is available that the limit ability of the platform climbs the different obstacles with present structure. The feasibility of the processes is verified through simulation.In accordance with design requirements, structural design is implemented, including motor selection, gear transmission, rack and suspension structure, leg-groups structure, leg structure, and suspension programs. Besides, the control system is designed, parts are machined according to the design standards, and the prototype is assembled and tested.To optimize capability of the walking platform, expansion studies of the related theories are researched, including structural innovation, conformation innovation, balancing technologies and the combination pattern explore of mixed linkage structure mechanism. At last, the applications of the platform are studied and explored.