The Design And Analysis Of Hexapod Robot Based On The Parallel Driving Leg

The purpose of human researching the robot is largely hope intelligent robots can replace human in the intensity of labor is larger,harm to human body greatly,even working in an environment human cannot work,such as fire,nuclear leak cleaning,mine clearance and explosion-proof.In the harsh environment,the natural advantages,discrete and small size robot foothold,make robot adaptability for complex environment.Combined structure of mammals leg with movement way of six-legged insect to determine the mechanism configuration of six-legged robot and it's leg,analyze the topology of the mechanism configuration of leg and the degree of manufacture difficulty,designed a six-legged robot legs of 3D model.Based on the inverse kinematics analysis using the coordinate transformation method,vector derivation method and geometric method,derive leg position inverse equation and mathematical expressions of joint speed.Finally,optimize lever length of the leg mechanism by two indicators of the maximum volume of space and kinematics Jacobian matrix.Based on the requirement of six-legged robot walking speed,establish a robotic motion trajectory mathematical model after designed double-triangle gait and trajectory planning,and apply the mathematical model to the robot prototype;Through the trajectory planning,and derive the drive joint rotation speed and acceleration;Based on gradeability discussions the influence of the height of the center of the robot system gravity,different loads,the slope of the ground,and force or torque produced by external interference to the stability of the robot system when walk straight with double-triangle gait.In order to reduce the dimension of statically indeterminate mathematical model of the normal force on the foot end,simplify force on the foot end into normal force and establish normal-force mathematical model,and simulation analyze joint torque to verify the theory is correct or not.