Mechanism Design And Analysis For Large-scale Hexapod Robot

Hexapod robot has many advantages such as high degree of joint freedom,good stability,high carrying capacity and strong terrain adaptability.The design and development of the large-scale hexapod bio-robot will promote the development of the national bionic robot technology.It can be widely used in many fields such as military and civil use,and has important theoretical and academic value.The academic theory and methods produced in the research process of hexapod robots have broad prospects and far-reaching influence on engineering applications.By comparing and analyzing the existing hexapod robots' entire body and the single-leg configuration at home and abroad,and summarizing the foot-end activity space and stability of several common configurations,a hexapod robot' leg simplified model was established.Three kinds of single-leg structures were designed and the extreme working conditions were selected.The performance of the designed single-leg structures under extreme conditions was analyzed.The maximum flow and power of the robot hydraulic system are calculated and analyzed based on the robot's maximum travel speed.Based on the calculation results,the main components are selected and arranged.Take into account the changing of force flow in different gaits,analysis the strength of the main body.The loading method was built up,the analysis results of the main body were compared with the analysis results of the whole robot.The result verified the loading method is correct.The modal analysis of the body structure shows it can reasonably avoid resonance.The rigid-flexible coupling analysis of the hexapod robot is performed,and the strength of the single leg structure and the force of the foot end are analyzed under the configuration.The foot trajectory of the hexapod robot was planned based on the speed.After adopting the velocity-based foot-end trajectory planning in the robot's conventional flat road gait,the acceleration and deceleration phenomena before and after the centroid of the robot during the walking process are eliminated.Finally,experiments were performed on the driver joints of the single leg structure.The verification results show that the thigh and lower leg joints are well-advanced and meet the requirements.The Swing joint needs to be improved.