Simulation Of Hexapod Robot Under Foot And Terrain Interaction

In recent years, the hexapod robot has become a hot spot in leggedrobot research. The body structure of hexapod robot has a strong stability.Compared with the two legged robot and the quadruped robot, the hexapodrobot has a stronger environmental adaptability in unstructured terrain.However, the hexapod robot also has the shortcomings of the controlcomplex and it is difficult to build models in the soft geologicalenvironment. Therefore, how to build the foot and terrain interaction forcemodels is worth studying.Firstly, the physical properties and mechanical properties of the softsoil and desert are analyzed. We derive different foot and terrain interactionforce models based on the different configurations foot. Through analyzingthe association between the single stiffness-damping model and the footand terrain interaction force models, we derive the stiffness-dampingcomposite model. Finally, we get the stiffness-damping model based on thefoot and terrain interaction force model. On this basis, we mainly study thehexagonal hexapod robot model and plan the leg of the hexapod robotkinematics. We establish the hexapod robot coordinate system anddetermine the relationship of the global coordinate system and the localcoordinate system. We study the motion analysis of the hexapod robot inthe soft soil or desert. We study the gait planning when the hexapod robotwalks in flat terrain and unstructured terrain in the soft geologicalenvironment. We analyze the change of the foot and terrain interactionforce of the hexapod robot in the motion process.We make the secondary development based on the foot and terraininteraction force model. We get the Dynamic Link Library (DLL) filethrough compiling and linking the foot and terrain interaction force model. With the analysis of the foot and terrain interaction force model in the softsoil and desert and the motion analysis of the hexapod robot, we establishthe co-simulation platform between the ADAMS and MATLAB. We dosimulation experiments when the hexapod robot walks in flat terrain andunstructured terrain in the soft geological environment. Through theanalysis of the experiment results, we verify the correctness of the trianglegait planning strategy and the change of the foot and terrain interactionforce in the flat terrain and the correctness of the obstacle, trenches andslopes gait planning strategy and the change of the foot and terraininteraction force in unstructured terrain.