Study On All-direction Gait Generation And Simulation Of An Eight-legged Walking Robot

Walking robot has good unstructured terrain adaptive and stability. Therefore, walking robot become the issue in the study of robot,the multi-legged robot is one of the most important part in robot research. With the development of robot technology research, people no longer content with the simple walking but the practical direction. Therefore, in the recent years, robot gait planning, especially the analysis of energy consumption and stability of the all-direction gait is more and more get the attention of people. In this study, an ADAMS and MATLAB union simulation experiment platform was established,through the simulation experiment, researched the stability and energy consumption in various walking gait of the eight-legged robot and laid a theoretical basis for study of robot mechanism. Research the reasonable and effective method of gait planning, enhance the eight-legged robot environment adaptability and make the robot walking more stable and efficient.The crab structure has been analyzed. Basis of the structure analysis, the crab-like robot has been designed. The walking foot is designed by modularization method. On the design of walk foot tip, consideration the sports need of the different terrain, adopted the design of circular arc-shaped structure. Used D-H method to establish the kinematics model of walking foot and used the MATLAB software simulation to affirm the kinematics equation is correct.Used the MATLAB software to analysis the reachable space of the robot.The dynamics of the eight-legged robot has been analyzed. Compared the different robot dynamics methods, Lagrange method was used to solve single walking foot dynamics and then used the ADAMS software simulation to affirm the dynamics equation is correct.The energy consumption and stability of crab-like octopod robot were analyzed by the kinematics and dynamics research. And then, introduce how to establish the simulation system with PROE software, ADAMS software and MATLAB software and the simulation system design considerations.Used the simulation system do an experiment about all-direction gait of the crab-like octopod robot, including a planar straight gait experiment and a planar turning gait experiment. Get the energy consumption and stability parameters base on different duty factors,strides and velocities in planar straight gait and planar turning gait. And analyzes the causes of data. Through the analysis of the data, it is concluded the best gait parameters of planar straight gait and planar turning gait under certain conditions.