Structure Design And Gait Planning Of Heavy-Duty Hexapod Robot

Hexapod robot is a typical type of foot robot,which has rich gait transformation,good stability,strong terrain adaptability and high obstacle jumping ability.It can be widely used in agricultural production,emergency and disaster relief,planet exploration,site excavation and military and national defense,etc,and was highly concerned by the academic circle.In view of the complex terrain environment,such as agricultural production,rescue and disaster relief,it was proposed a configuration scheme of a heavy-duty hexapod robot,and carried out research on the robot body structure design,kinematics analysis,foot trajectory planning and free gait planning,etc.The main research contents include the following aspects:1.Conceptual design and mechanical structure design of heavy-duty hexapod robot.On the basis of literature review and investigation,the configuration of hexapod robot was proposed,considering the robot foot end movement space,walking speed,stability and so on to carry out the robot leg structure parameter optimization,based on force analysis and the analysis of energy consumption of each joint hydraulic cylinder hinge point location is optimized,it was presented a foot structure design for shock mitigation.On the basis of the above research,the motion design and structure design of hexapod robot are completed.2.Kinematics modeling and foot trajectory planning of heavy-duty hexapod robot.The kinematics model of single leg swing phase of hexapod robot was established by D-H parameter method,and the displacement analysis of hydraulic cylinder was carried out.In order to reduce the impact and smooth motion,a foot trajectory planning method was proposed,which can effectively reduce the impact force generated by the contact between the foot and the ground.3.Free gait planning of hexapod robot based on time difference.Aiming at the complexity of free gait planning of legged robot,the time difference algorithm of machine learning algorithm is applied to the free gait planning of hexapod robot.In combination with the basic principle of reinforcement learning,on the basis of trajectory discrete robot build free gait planning of markov decision process,the robot robot average stability margin was used to construct return function,finally using time difference method to solve markov decision process,the optimal strategy was based on the obtained the optimal strategy of robot gait transition.The free gait planning process of hexapod robot based on time difference was presented.The results show that the time-difference free gait planning algorithm can effectively improve the stability margin of the robot,and make the robot walk more stable,flexible and have good terrain adaptability.