| Hexapod bionic robot has the characteristics of high flexibility and strong obstacle ability.Compared with wheeled tracked robots, hexapod bionic robot has stronger ability to adapt to complex terrain, which makes it in the rugged terrain has excellent passing ability. This kind of ability makes it a broad prospect in the areas of detection, rescue and so on. Supported by the Hebei Province Natural Science Foundation(E2014202154) and Robotics and Systems National Key Laboratory Research Project(SKLRS-2013-ZD-04), the structure of hexapod bionic robot is carried out in-depth research.The main contents and innovative achievements are as follows:1. An observation experiment platform for hexapod insect is built, and hexapod insects, such as ants and beetles, is chosen as observation objects. In order to design the structure and movement control of hexapod bionic robots, commonness and characteristics in the structure and movement of several hexapod insects are researched.2. Based on the hexapod insect experiment data, and body stru cture of insect, walk mechanism, work space of feet end and overall stability of hexapod bionic robot, the robot’s single leg and body structure are designed and optimized. Model selection of key parts are completed and a new kind of hexapod bionic robot is constructed.3. Kinematics analysis of the hexapod bionic robot is carried out. The series and parallel mechanism kinematics model of hexapod bionic robot are established. With assistance of virtual prototype technology, the above kinematics model are verified, then posture adjustment and tripod gait walking are both stimulated, and the correctness of dynamic modelsand and the practicality of driving system selection and design are verified.4. An experiment platform for hexapod bionic robot is built. Aiming at the overall coordination ability and walking stability for the robot, experiments for single leg, overall movement and tripod gait walking are carried out. Compared with simulation analysis results, the above experiments verify the rationality of hexapod bionic robot design and correctness of theoretical analysis. |
PDF Full Text Request