Design Of Hand-Foot Fusion Mechanism And Gait Planning For A Hexapod Robot

With the continuous development of bionics,multi-legged robots have become the focus of people's research as mobile super-redundant series-parallel hybrid robots.Compared to traditional wheeled and crawler-based mobile robots,multi-footed robots can adapt to most complex topographic landscapes and help humans perform dangerous and complex tasks.Therefore,as technology is continues to be evolved and improved,multi-legged robots are bound to play a decisive role in the future.Among all multilegged robots,the hexapod robots have the advantages of high stability and simple system due to the neutrality of the quadruped robots and the octopod robots,leading to the fact that they are increasingly favored by scientists and engineers and become typical representative of multi-legged robots.With the support of the “Assembly 921 Project Phase III space station robot pre-research project”,this paper aims to develop a highperformance hexapod robot for space truss walking,analyzing the function of the hexapod robot,completing its structural design and gait planning and engaging related simulation and test verification.This thesis firstly analyzed the recent development of six-legged robots based on domestic and foreign literature,especially the detailed comparison and analysis of the hexapod robot's mechanical structure and control methods.For the main research direction of this topic,namely the structural design and control methods,the advantages and disadvantages of similar products at home and abroad were compared in detail.At the same time,the main performance indicators of designing this six-footed robot were formulated and the specific research content of this paper was determined.Secondly,by analyzing the performance index of six-legged robots,this thesis proposed a rapid construction method based on modular snake-like robots—using the snake-like robot modular joints as the hexapod robot's leg joints and designing a handfoot fusion end effector assembled on the legs.At the end of the department,the structural design of the hexapod robot was completed;based on the hexapod robot designed above,a D-H parametric model is established to perform kinematic analysis and planning,which laid the foundation for the subsequent gait control of the robots.After that,based on the completed kinematics planning,the study of the gait algorithm based on the Central Pattern Generator(CPG)was completed;by optimizing the CPG input parameters,the phase coupling between the CPG neurons was achieved,the CPG network and the angle of each joint can be controlled through adjusting the mapper,so as to achieve the two kinds of gaits of the hexapod robot's,namely straight walking and turning in place;in addition,through coupling the linear walking gait and situ turning gait,turning of the six-legged robot during the gait was achieved,in order to track the changing target at any time and correct the trajectory deviation caused by the mechanical structure error in real time.Finally,based on the laboratory snake-like robot module,the single leg of the hexapod robot was accompolished and the hand-foot fusion mechanism was finished.The experiments about the grabbing and walking were accomplished by the above equipment.Besides,the effectiveness of the CPG network was demonatrated by the co-simulation between Adams and Simulink,the walking of the robot was achieved in the software.