Research On Standing Posture Optimization And Position And Posture Control Strategy Of A Hexapod Robot

With the development of the society and the progress of science and technology,people require better robots.From the most primitive human mobile robots,to the complex environment moving robots now,robots' moving ability is the main part to improve urgently.Hexapod robots are better than wheeled and tracked robots in the aspect of the walking range,movement flexibility and adaptability to the environment.Because of its numerous feet at the same time,it is difficult to improve the moving ability and control the movement of hexapod robots,so it is necessary to focus on the research of the optimization and control of hexapod robots.The object of this thesis is hexapod robots,and we mainly focus on the standing posture optimization and posture control strategy of hexapod robots,in order to improve the movement performance of them.First of all,the kinematics of our self-developed hexapod robot HITCR is analysed.The forward and inverse kinematics equations of a single leg of HITCR are established.And we rectify the deviations caused by the spherical foot end structure,and verify the correction by simulation.We also establish the forward and inverse kinematics equations of the robot torso,and then verify them by drawing the workspace of the robot body.Then the standing posture of the hexapod robot HITCR is studied.Based on the static equilibrium analysis,we obtain the relationship between jiont torques and joint angles to measure the effects of different postures on joint torque s;Based on the manipulability index,we obtain the relationship between leg manipulability and joint angles to measure the effects of different postures on leg flexibility.Considering the above two aspects,we ultimately find a reasonable standing postur e for the hexapod robot HITCR.In order to improve the stability of moving and rough terrain adaptability of the hexapod robot,we deduce the dynamics equation of HITCR,and combine with the static equilibrium and the foot end friction constraint relationship,we establish the foot force optimization model,choosing the power consumption of motors as optimization goal.We use simulation to prove that the optimization algorithm is effective to reduce the system energy consumption.Then combining with the impedance control to adjust the foot force,so as to achieve the purpose of the adjustment of HITCR.Finally,in order to show the feasibility of the foot force distribution algorithm in real robot systems,the simulation and real system experiments are carri ed on.We build and debug a simulation system of the hexapod robot HITCR.Using simulation platform are completed the experiments on horizontal and inclined ground,and the robot foot tracking results are obtained.Then we carry out the experiment on HITCR platform,and the results agreed with the simulation results,which verify that the foot force distribution algorithm we designed in the thesis is feasible in real hexapod robot systems.