Design And Research Of Multi-legged Walking Robot Motion Platform

With the continuous development of science and technology,people`s exploration in various fields continues to deepen.There is an urgent need for a robot that can adapt to different environments and has a certain load capacity.Foot-type walking robot has the advantages of strong adaptability and flexibility to complex environment in motion,and less destructive to the ground environment.As a result,It has been a research hotspot and widely used in space exploration,earthquake mitigation and military tasks.Therefore,the robot motion platform studied in this project is based on the foot robot,and on this basis,a robot motion platform capable of carry auxiliary functions is designed.Firstly,through the research and analysis of the physiological structure of insects and other organisms,the simplified structure of the trunk and legs of the foot-type walking robot is designed,the uniform distribution of the foot is proposed,and each leg is designed to be 3 degrees of freedom.The overall design model is established in the software Pro/E.At the same time,through the kinematic analysis,the relationship between the leg joint variables and the expected posture is obtained.Then,based on the analysis of gait parameters,three gait modes are proposed,and the applicability,advantages and disadvantages of the three gait modes are analyzed and compared in detail to select the optimal gait mode.Secondly,the design of the robot control system,this project applies raspberry pie 2B as the upper control unit of the control system,which is equipped with Raspbian operating system,and compiles and installs ROS.The core of the bottom control system is TPYBoard V102 development board,which is responsible for controlling the executing mechanism of the robot.This kind of software system which combines upper and lower control methods can be developed and implemented with Python3.0 language.Finally,the prototype is assembled and manufactured,and the walking ability of the robot is tested by the prototype.The experiment proves that the foot-type robot motion platform designed in this paper has good stability and certain carrying capacity in the process of motion,and the control system in this paper can achieve the accurate control of the robot and achieve the desired design goal.