Hexapod Robot Design Optimization And Motion Control

In recent years,due to its unique form of motion and adaptability to non-structural environments,legged robots have increasingly become a research hotspot in the field of mobile robots.The hexapod robot in the legged robot has flexible gait,stable walking,high redundancy of the actuator,and has rich theoretical and technical research value.In this paper,the hexapod robot is the research object,and a lightweight small and medium hexapod robot is designed and completed.In the mechanical structure part,under the condition of selecting the series joint type leg configuration,the eccentric design based on motion space analysis is used to optimize the joint stroke,and the static stress analysis is used to optimize the lightweight design of the robot.At lower weight levels,higher rigidity and sufficient size are achieved,ensuring the necessary traversability.In the part of the electronic control system,the actuator bus control system with PC platform as the upper computer is designed,and the power data of the actuator system in the walking process of the robot is measured to match the power supply of the whole system.For the robot described in this paper,the kinematics modeling is carried out,and the relationship between coordinate transformation,kinematics positive and negative calculation,fuselage trajectory and supporting leg trajectory are analyzed.On this basis,the segmented trajectory control based on the swing leg retracting is performed for the oscillating phase foot end trajectory.Taking the triangular gait as an example,the active adjustment of the gait phase of the support leg under multiple working conditions is realized by dynamically adjusting the triggering process of the supporting phase to the oscillating phase and the duration of the oscillating phase under the constraint conditions.Finally,the upper computer control software under the.NET framework is written to realize the real machine operation of the robot.Through the analysis of the test data,it is verified that the electromechanical system design is reasonable and feasible,and the stable operation of the robot electromechanical system is realized.The walking and attitude control test results show that the robot motion control model is feasible and effective.