Kinematics Analysis And Gait Planning Of Hexapod Robot Based On Screw Theory And Lie Group

As one typical kind of multi-legged robot,the hexapod robot has excellent performance of motion flexibility and load capacity.With the appropriate gait planning,hexapod robot can cooperate with specific detection system and be used in automatic detection task.Based on screw theory and lie group,this paper study the kinematics and gait planning algorithm of hexapod robot which is used in detection task of glass curtain wall and large-scale bridge.The kinematics model and gait planning algorithm are verified by experiments of virtual prototype and actual prototype.This paper first introduce the background of the research,the significance of the study and current study of the multi-legged robot.Then,it point out the key problems in the gait planning of multi-legged robot,which is the meaning and design ideas of this paper.Based on the screw theory and lie algebra,the kinematics model of hexapod robot is built using the knowledge of kinematic influence coefficient.The kinematics model is used to analyze the degree of freedom and the kinematics state of the robot,providing the basis of gait planning.Besides,considering the cooperation between the robot and the detection system,the workspace of hexapod robot is study,and the calculation model coupled with calculation algorithm is showed.Secondly,according the relevant knowledge of multi-legged gait planning,The methods and basic steps in gait planning of hexapod robot is propose based on kinematic influence coefficient model.The whole process of gait planning and control of hexapod robot is clarified by the design and analysis of typical planned gait.Finally,the design scheme of virtual prototype and actual prototype of hexapod robot is presented.Besides,simulation experiments is carried out to verify the kinematics model,gait planning algorithm and workspace of the hexapod robot.The experiment of actual prototype is also present to prove the feasibility of the whole process of gait design and prototype design.