Design And Control Of A Six Legged Reconnaissance Robot Based On STM32

As a kind of multi legged robot,hexapod robot has a variety of construction forms,flexibility and stability,and is widely used in construction industry,petrochemical industry,shipbuilding industry,fire department and other fields.At present,the activities of terrorists are still going on,and the high-tech equipment for anti-terrorism in various countries is still in-depth study.The six legged reconnaissance robot designed in this paper has the characteristics of small size,good flexibility,diverse functions and low noise.Its multi environment reconnaissance function has a broad application prospect in anti-terrorism reconnaissance,and it has important practical value to carry out relevant research,which is beneficial to social harmony Stability is of great significance.First of all,taking cockroaches with superior natural attributes as bionic objects,the body structure and leg structure suitable for the six legged reconnaissance robot are extracted from the body structure of cockroaches,and the integrated structure of the ground wall of the leg end actuator is designed with reconnaissance as the main line,and the double spring passive noise reduction module is designed in the leg Shin joint.Based on the D-H kinematics method,the D-H coordinate system of hexapod robot is established.Through coordinate transformation,the forward and inverse motion solutions of the robot are obtained and verified.Then,in the background of reconnaissance,the typical motion environment of the Hexapod reconnaissance robot is proposed,and the force analysis and gait planning are carried out for different motion stages of the hexapod robot.This paper analyzes the forces on the robot's three support feet and makes the gait planning.Based on the stability margin,the relationship between the robot's slope stability and the fuselage pitch angle is analyzed,the quantitative relationship between the fuselage pitch angle and the robot's leg joint angle is obtained,and the slope motion gait based on the feedback of CPG is planned According to the transition between the flat and the slope,the condition that the robot does not slip at the foot end in the transition is obtained,and the transition gait of the flat and the slope is planned based on the feedback of the bottom sensor;the stress of the robot on the vertical wall is analyzed and the transition gait between the flat and the vertical wall is planned.Secondly,the biological mechanism of biological motion and robot application mechanism are analyzed;the improved Hopf model with external feedback is proposed,and the influence of each parameter in the model without feedback and with feedback on the model state variable output is analyzed respectively,and the adjustment attribute of the parameters in the model on the output state variable is obtained;the overall network topology of the robot control model is analyzed,and the comparison is complete According to the different output curves of the symmetrical network and the ring network under the single leg coupling,the full symmetrical network is selected as the coupling model network between the legs of the hexapod robot;the coupling condition between the legs of the robot is analyzed and the coupling relationship between the six legs of the robot is planned;the coupling condition within the legs of the robot is analyzed and the joint coupling mapping function is proposed;the three joint control signals of the hexapod robot are obtained.Finally,in order to meet the specific needs of the Hexapod reconnaissance robot,the corresponding hardware system scheme,software system scheme,specific upper computer,lower computer control process and upper computer control interface are designed,and the hardware form suitable for the robot is reasonably selected,and the prototype is built;based on the built robot prototype,the three support legs of the hexapod robot are tested for straight walking and rotating gait The control model without feedback and the control model with feedback are used to test the stability of the robot when it moves on the flat,concave convex,slope and the change of the pitch angle of the fuselage,which proves the correctness and effectiveness of the control scheme of the CPG unit model with feedback.