Structural Optimal Design And Kinematic Characteristics Analysis Of Hexapod Robot With Fewer Actuators

Hexapod robot has wide application prospect in the field of national economy and national defense construction,such as field detection,environmental monitoring,disaster relief and military investigation,so it has become the focus of research in the field of robotics.At present,the study of hexapod robot has made a lot of achievements.But there are many problems such as a lot of freedom of joints,complicated control system,low load capacity and so on,which limit its application in practice.Based on this,a kind of hexapod robot with fewer actuators was designed.The parameters of the leg mechanism of the robot were optimized with the aim of obstacle performance and motion stability,the kinematic performances of the robot under different conditions were analyzed.Metamorphic leg mechanism was designed to achieve the robot's multi-movement mode and enhance its barrier capability.The main works of this paper are shown as follows:1、The overall structure of the hexapod robot was designed.According to the overall design goal of the hexapod robot,the leg mechanism was designed based on the analysis of the advantages and disadvantages of different leg mechanism.The robot body structure,transmission and power system,sensing and control system were designed.On this basis,a three-dimensional model of the overall structure of the hexapod robot was established.2、The dimensional optimal design of leg mechanism for hexapod robot with fewer actuators was carry out.The characteristics of the leg structure of hexapod robot were analyzed.Combined with a variety of different state of motion,the foot trajectory needs to be satisfied was put forward.On this basis,in order to get the best performance on overcoming obstacles and walking,and considering foot trajectory requirements and drive performance requirements,the dimensional optimal design was carry out using subspace trust region optimization algorithm,which made the performance of the hexapod robot meet the design requirements.3、Based on ADAMS software,the performance of hexapod robot with fewer actuators were studied.The kinematic performance of the robot in various states was analyzed,the ability of robot's straight-line walking,left and right turning,climbing,single step and continuous steps crossing were simulated,which verified the feasibility of the overall design of the robot.4、Metamorphic leg mechanism was designed and kinematic characteristics were optimized.Based on metamorphic mechanism theory,the leg mechanism which can switch between the four-bar institutions with single-degree-of-freedom and five-bar mechanism with two-degree-of-freedom was designed,and using the optimization method of ADAMS the dimension of the leg mechanism was optimized to achieve a variety of robot steps and multi-movement modes,and enhance its ability to cross obstacles.The hexapod robot with fewer actuators has many advantages,such as less actuators,simple control system,good movement flexibility and superior ability to overcome obstacles,which has a certain theoretical and practical significance to promote hexapod robot.