Study On The Operability Analysis And Manipulation Strategy Of Hexapod Robot In Rugged Terrain

In recent years,the hexapod robot has gradually become a hot research topic in the robot field with its superior performance.However,the current research on hexapod robots is mostly based on its stability and obstacle ability.Flexibility as an important characteristics of robots is often ignored.In particular,when a hexapod robot is in rough terrain,the uncertainty of the environment increases the flexibility of the robot's legs.Therefore,it is necessary to study a manipulation strategy that can improve the flexibility of the robot's legs.Aiming at the flexibility of hexapod robot through rough terrain,this paper studies the maneuverability analysis and maneuverability strategy of hexapod robot on rough terrain by using maneuverability to measure the flexibility of robot legs.Firstly,a hexapod robot driven by electric simulation is studied,and the operability of hexapod robot is analyzed.By establishing the hexapod robot kinematics model,the positive and negative kinematics solution and the Jacobian matrix of the hexapod robot are obtained.At the same time,the concept of maneuverability and the calculation method are introduced to solve the relationship between the maneuverability of the leg and the joint angle.Based on the results of operability analysis,the optimal single leg shape is determined,and a rule for evaluating operability of hexapod robot is established.Then,combined with flexibility and stability,a hexapod robot manipulation strategy is developed.The influence of position change on operability is analyzed.The stability is expressed by the stability margin,and the influence of position change on the stability margin is analyzed.Taking the operability as the flexibility standard,combined with the stability margin of the hexapod robot,the constraints are formulated,and the positioning posture adjustment process is determined.Through the robot model of the human-machine interface,the maneuverability of the robot's supporting leg and the stability margin of the body are displayed,and the operator is prompted.Position adjustment method,increasing flexibility and stability during exercise.Finally,in order to verify the effectiveness of the manipulation strategy,the platform is built and verified experimentally.The operation model is established and the functions of each part of the model are determined.A semi-physical simulation and manipulation platform based on Vortex multi-body dynamics software was set up.The position adjustment was performed through Novint Falcon and PHANToM Omni manipulators.The operator uses the aid of the human machine interface to complete the position correction.It is proved that the manipulation strategy of hexapod robot based on operability can improve flexibility and stability.