The Research And Design Of Hexapod Bionic Robot System Based On Active Olfaction

The legged olfactory robot has strong terrain adaptability,and can autonomously search and locate the leak source in various complex environments.It has important application value and theoretical significance for solving problems in high-risk areas such as hazardous chemical leakage detection,fire rescue,explosive substance detection and disposal.Aiming at the problem of locating the source of dangerous gas leakage in rugged and complicated environments,this thesis takes hexapod bionic olfactory robot as the research object,and studies its attitude control and active olfactory positioning algorithm to realize stable walking and active olfactory sourcing of hexapod bionic robot in rugged and complicated environment.The main work of this thesis is as follows:(1)The research background of olfactory robots is introduced,and the research status of olfactory robots and multi-legged robots at home and abroad is summarized and analyzed.The forward and inverse kinematics of the hexapod bionic robot is analyzed,and its kinematics model is derived.The influence of the robot's foot end workspace on the walking parameters of the robot is analyzed.(2)The overall design scheme of a hexapod bionic robot system based on active olfactory is proposed.According to the overall design plan of the robot,the hardware framework and software architecture of the control system are designed and constructed separately to realize the all-round motion and active olfactory function of the robot in the rugged and complex environment.(3)In order to improve the adaptability of the robot to rugged and complex terrain and the stability of walking,a closed-loop control algorithm for the attitude of the hexapod robot is proposed.Firstly,the mathematical model of the difference in support leg length and joint angle was improved.Then a proportional-differential closed-loop control strategy based on the improved model is adopted for the robot attitude,and the foot force feedforward control is added to it.Finally,the feasibility of the algorithm and the control effect of the robot attitude are verified by simulation and physical experiments.(4)The active olfaction localization algorithm based on evolutionary gradient search is used to realize the active olfaction function of the hexapod bionic robot.First,the principle of the active olfactory localization algorithm is introduced.Then the feasibility of the algorithm is verified through simulation comparison experiments,and the active olfactory sourcing function of the hexapod bionic robot is verified through physical experiments.