Parameter Design And Optimization Of Hexapod Arc-leg Robot

In recent years,frequent disasters and terrorist attacks have made search and rescue robots gradually become a branch of the robot industry that has received more attention.With its own structural characteristics,search and rescue robots can replace humans in the unknown and complex environment of post-war and post-disaster(earthquakes,fires,terrorist attacks,etc.)for exploration,communication,transportation,construction,and execution of search and rescue tasks.The development of search and rescue robots' prospect is broad and the development of search and rescue robot is fast.This article combines the international frontier knowledge in the fields of robotics and gait control to develop a hexapod arc-leg robot with both speed and motion stability.The full text includes the optimization of the robot arc leg structure parameters and the kinematics of typical gait.Finite element modeling and optimization of models,arc legs,virtual prototype construction and simulation.The main work of this article is as follows:1.Faced with the special complex environment of search and rescue tasks,a new type of six-legged arc-leg robot is proposed.Each leg of the robot is composed of three arc legs.Due to the special structural design,the robot has a simple structure and has the ability to overcome obstacles and be fast.It has the characteristics of athletic ability and stable athletic ability.Through mechanism analysis and theoretical analysis,the three-leg structure is selected and verified by simulation.In order to obtain the optimal structural parameters of the three-segment arc-leg arc leg,we construct the objective function,determine the parameter space and boundary conditions,and then use the simulated annealing algorithm to optimize the parameters of the arc leg structure,so as to obtain both rapid motion and stability.The optimal structural parameters of the arc legs with good characteristics are finally analyzed.2.Based on the new arc leg structure,the concept of gait is introduced,and the motor speed curve is optimized.Based on this,the typical three-legged gait and four-legged gait are designed,and kinematic analysis is performed to analyze the two gaits.We get the relationship between the speed of the motor,the instantaneous speed and acceleration of the arc leg when touching the ground,which is convenient for subsequent gait control.The static stability margin method was used to study the static stability of the three-legged gait and the quadruped gait,and the overturning method was used to study the dynamic stability of the gait,which verified that the designed gait had good stability.Finally,the relationship between obstacle crossing and gait is analyzed to complete the gait design that meets the obstacle crossing requirements and has a low centroid fluctuation.3.Using ABAQUS software,the finite element modeling and static stress analysis of single arc legs are carried out.Based on the existing materials,the robot flexible body dynamics simulation is used to explore the more suitable material combination.We explore the relationship between the speed of the robot and the degree of fluctuation of the center of mass during the movement when using the three-legged gait,and the relationship between the speed and the height of a single obstacle.We explore the relationship between the horizontal distance between the first pair of arc legs and the first step of the robot,the phase angle of the robot during the lifting phase,and whether the robot climbs the stairs successfully when using the quadruped gait.4.ADAMS,SolidWorks software and ROS robot development platform are used to build a virtual prototype model of the robot,select key hardware,and design the control system based on this.Finally,the model construction,simulation environment construction,PID parameter adjustment and gait coordination processing method design are completed to achieve the expected control goals of the two gait,three modes and real-time gait adjustment.Finally,we have debugged joint of ROS system,loaded camera and signal transmission,and achieved virtual prototype dynamics simulation experiment,including gait coordination experiment,switching gait experiment,and steering gait experiment.