Research On Walking And Slipping Of The Hexapod Robot

The hexapod robot has discrete foot drop points and is more suitable for walking in various rough road environments.However,in order to better adapt the foot to the environment,the foot of the hexapod robot usually uses a cylinder or a hemispherical shape.Due to the limitation of the shape and the material of the foot end,the hexapod robot is prone to slip when walking,which affects the control of the hexapod robot.At present,the research on the walking slipping of the hexapod robot is still blank.Therefore,the problem of the hexapod robot's walking slipping is studied in this thesis.First,the mechanics of the interaction between the hexapod robot foot and the ground is analyzed,and the relevant factors that affect the walking slipping of the hexapod robot are obtained.Then the prototype of a hexapod robot is developed and different types of feet are designed,and the kinematics analysis and gait planning of one leg are carried out.Finally,walking experiments under different conditions are implemented.The specific contents are as follows:(1)The studies on the foot ends of the hexapod robot at home and abroad are summarized,and the foot ends are divided into four types: flat bottomed foot,cylindrical foot,hemispherical foot and bionic foot.According to the literatures,the ground environment is divided into the hard ground and the soft ground,and the ground mechanics of two kinds of ground is analyzed.Based on the theory of the ground mechanics,the interaction mechanics between the ground and the feet(including the cylindrical feet and hemispherical feet)of the hexapod robot are analyzed.Six factors affecting the walking slipping under the two kinds of ground environment are analyzed.(2)The prototype of a hexapod robot is developed.According to the parameters of the prototype,the kinematic analysis of the single leg of the prototype robot is carried out using D-H parameters.The inverse kinematics and Jacobi matrix are also obtained,which provide the basis for the setting of the gait parameters of the hexapod robot,and the three-foot gait and four-foot gait are planned.(3)Walking experiments of the prototype robot under different conditions are implemented.By analyzing the slip rate under different conditions,the degree of the influence of each factor on the slippage is obtained,and the anti-skid measures are put forward.