Design And Simulation Analysis Of Single Leg Hydraulic System For Heavy-duty Hexapod Robot

Foot type for bionic robot walking posture,the robot need not require public ground smooth smooth,for all kinds of pavement has stronger through sex,compared to the wheeled robot,has better adaptability,compared with the caterpillar robot,can span bigger blockage,and low energy consumption,not only can better adapt to the rough terrain,and can be effective at the scene of the disaster relief,complete the overloaded assignment and disaster environment protection problems.Therefore,the most distinguishing feature of foot type robot is not to need to overcome the resistance of the ground to bring in a row,and naturally have a strong body posture change and shock absorption function,this is just for this kind of structure and performance of the robot.At first,for more full hydraulic robot,the application scope of more than a few feet robots at home and abroad are compared the composition of the whole machine structure design,walking legs and drive system,hydraulic system,in the middle of the walking robot carrying capacity,stability and control system performance,such as complexity,draw a quadruped robot in all these performance can't satisfy the conclusion,the full hydraulic pressure drive hexapod bionic robot can achieve the best balance,therefore,in this paper,such robots started to design research and development work.After the mechanical model of walking leg has been designed in this paper,the forward and inverse kinematics calculation of the walking leg is carried out,and the relationship between the foot position and the hydraulic cylinder elongation is established.The walking process of two gait,three gait and six gait was analyzed,and the corresponding gait was developed for four typical working conditions,and the relationship between the foot trajectory and the motion displacement of the hydraulic cylinder was designed based on the foot trajectory.Then,in this paper,proportional hydraulic system are designed according to the principle of the hydraulic system diagram,contains power element model is established,the control element model,the control system model of the whole hydraulic model,and the mechanical model and the whole machine model of Shared port set,realized the simulation of fluid of machine joint,and the level road walking,climbing a vertical obstacle,longitudinal slope walk,walk side slope of the big four typical working conditions of hydraulic system dynamic characteristic analysis,the simulation results accord with actual situation.Finally,designed and built one leg test bench,the single cylinder with performance test,bench on the thigh,calf,coxa hydraulic cylinder with performance test,thigh,calf and hydraulic cylinder linkage with performance test,three cylinder linkage with performance test,finally,the simulation results were analyzed,and concluded three cylinder with good performance test bed frame,thigh,calf hydraulic cylinder linkage with excellent performance,but the linkage of the coxa hydraulic cylinder with high precision is not enough,need to further introduce fuzzy PID algorithm,improve the overall performance of the system.