Motion Control And Gait Planning For A Walking-climbing Hexapod

The glass curtain wall is a fascinating landscape in urban architecture.With the rapid development of our economy,China has become the world's largest producer and user of the glass curtain wall.What follows is the constant occurrence of safety accident caused by the quality of glass curtain walls.Based on this background,a walking-climbing hexapod is designed and implemented for the inspection of glass screen walls.By adding vacuum suction cups to the legs,the robot can climb on the vertical surface of the glass curtain wall to accomplish the inspection.The walking-climbing hexapod robot can not only walk in all directions on the horizontal plane,but also climb from the horizontal ground to the vertical wall.This paper mainly studies and analyzes the mechanical structure,software and hardware system,forward and inverse kinematics,walking gait planning and climbing gait planning of the robot.Firstly,this paper makes a detailed summary and analysis of the research status of the multi-legged robot at home and abroad,analyzes the key and difficult points of the research on the multi-legged robot(especially the wall-climbing robot),puts forward the key issues of the research,and establishes the research direction and design ideas.Aiming at the walkingclimbing hexapod robot designed in this project,this paper introduces its overall mechanical structure,gives the design and implementation of each part,and finally analyzes the hardware design system and software design system of the robot.In terms of robot kinematics,this paper models and analyzes the forward kinematics of the multi-legged robot with the frequently-used D-H method in robotics.The inverse kinematics of the robot is solved by geometric method.These analyses lay a theoretical foundation for the following gait planning.In the gait planning of robot,this paper analyzes the walking gait planning and climbing gait planning respectively.Based on the analysis of the occupation coefficient of the robot while walking,that is,the reasonable switch between the supporting phase and the swinging phase,this paper designs the tripod gait,quadripod gait and wave gait of the hexapod robot.With the planning of foot trajectory,the hexapod robot can walk in all direction.For the complex climbing gait,this paper divides it into closing-legs gait,restoring gait,rotationtranslation gait,step-forward gait and cross-plane swing gait.The detailed algorithm planning analyses is made for each sub module.In this paper,the walking gait planning and climbing gait planning are all simulated on ROS(robot operating system),and tested wit the real machine.The experimental results prove the rationality and feasibility of gait planning.