Mechanism Analysis And Design Of A Hexapod Robot With Waist

This paper presents a novel hexapod robot with waist mechanism.This robot has flexible moving ability and compact structure which make the robot widely used in fire-fighting,exploration and other fields.Based on the principle of bionics,the configuration and layout of hexapod robot have been designed,then the configuration of legs and waist mechanism have been determined.The position analysis of legs,waist mechanisms and the whole machine have been carried out,then the examples of their positions are given respectively.Based on the position analysis,the workspace of legs and waist mechanisms have been drawn.Then this paper compares the workspace of the whole machine with waist mechanism to those without.The Jacobian matrix of legs and waist mechanism are derived,and the velocity performance evaluation indexes are defined.Then the influences of multi-scale parameters on workspace area and evaluation indexes are analysed.The static analyses of legs and waist mechanism have been finished respectively.The evaluation indexes of force transfer performance and stiffness performance have been defined,then the distribution law of those indexes inside the workspace are analysed.Based on triangle gait,the force analysis of the whole machine is finished.The simulation results show that waist mechanism is beneficial to the bearing capacity of the robot legs.The ladder climbing gait,ditch crossing gait and obstacle climbing gait have been planned.The calculation formula of robot's climbing ability is given,and the feasibility of crossing-ditch gait has been analysed.Then the static,dynamic and energy gait stability have been analysed.The foot trajectory is planned by using compound cycloid function,then the motion simulation of hexapod robot has been finished according to the planned trajectory.The research work of this paper lays the foundation for the research and control of this kind of robot.