Research On Motion Control And Performance Analysis Of Hexapod Robot

As society advances,foot robot occupies a crucial position in the fields of robotics.It belongs to complex topology in structure,they also have multiple input and output coupling system of redundancy on control.Control technology is a highly comprehensive discipline that involves mechanical,control,artificial intelligence and other fields.Hexapod Robot is a series-parallel hybrid topology,it has complex movement pattern and relative difficulty on coordinating moving of multi-joint,it has been a hot and difficult discussion on multi-legged trail planning and multi-DOF redundant coordinated movement of robot.Stability of the multi-legged robot is very important in robotics,it is also an important indicator on assessing the performance of the robot movement.The topic for the gait stability analysis of hexapod robot structure,simplified model and derive a reasonable and effective leg trajectory to achieve efficient and stable walking.First,analysis typical gait stability and kinematics for the symmetrical structure of hexapod robots,we have a comparable study with three static and dynamic stable gaits at the same duty cycle mainly from walking ability and stability,through this way,we can calculate longitudinal gait stability margin and stability margin of different gaits,analyze the threshold of stability margin value and the decrease rate of stability margin.Then we can get gait which has the optimal performance.According to the algorithm of robot step,horizontal span and stability margin.Through algorithm merges into the kinematics solver and coordinate system conversion,we derive the trajectory planning of leg.Secondly,according to the robot body structure,we build control system hardware and software platform,combined with multi-sensor module achieves a robot control system with coordinate and stable characteristics.Eventually,joint response experiments of hexapod robot to measure the performance of the motor,testing the ability of the motor controlled,response speed and accuracy of stability;in the aspect of gait,tested the motion performance of the hexapod robot prototype,verified the trajectory planning of leg with real-timed and correct characteristics;in the aspect of mechanical analysis experiments,tested three walking gait by the increasing force and suffered impacting of leg,directly verified the degree of stability and motion performance of robot.