The Structural Design And Analysis Of Large-scale Burden Hexapod Robot

Hexapod robot is a kind of typical robots. Compared to wheel or caterpillar robots, ithas better mobility and adaptability for the rough terrain. The research on the robots is ofmomentous scientific significance and practical application value. In order to achieve thepurpose of working and transporting on complex road, such as mountainous region, thelarge-scale burden hexapod robot that could be applied to the complicated terrainconditions was designed.In recent years, hexapod robot technology has become one of the core technologies inthe field of robotics research. The law of survival of the fittest in nature gives human beingand animal unique and clever adaptation abilities for different environmental conditions,such as land-creatures’ legs. From it, we captured the critical elements, considered theadvantage of stability of six-legged property, and then developed the structure of leg ofhexapod robot.The research works in this thesis focus on the following. Firstly, the researchdevelopment of the leg robot was introduced, and the in-depth exploration and analysiswere made on the large-scale burden hexapod robot of mechanism design, such as planarand spatial kinematics, theoretical modeling, motion planning, finite element model, and soon. Similar to the structure characteristics of the boom of the excavator, and with the aid ofsix-legged insect’s structural features from the perspective of bionics, the three degrees offreedom of the single leg were realized on the way of hydraulic drive; Secondly, throughintegrating the six-legged control and CAE technology, the motion characteristics and jointpivot location of mechanism were designed optimally. Thirdly, the stiffness and strength ofintegrated component is analyzed by the finite element analysis method. Throughanalyzing the stress of the opening and taking effective remedial measures, we learned thatthe bending rigidity and the bending and reversing strength of the opening can besignificantly improved by welding reinforcing plate and using L bending plate in the femurlateral plate. It will play a key role in the development of the large-scale burden hexapodrobot in the future. Fourthly, the application was studied via the experiments in complexenvironment. The goal of predicting performance during the work of the large-scalehexapod robot was realized, so the research cost and job losses were reduced, which lay the foundation for future research and development work.At last, the content of the full text is summarized, with the account for the deficienciesof this paper and the further work need to be done.