Mechanism Analysis And Design Of A New Hexapod Robot

In this paper,a new type of hexapod robot with parallel mechanical legs is designed.The leg structure of the robot adopts a three-degree-of-freedom plane parallel mechanism.It has the advantages of compact structure,large bearing capacity and large working space.It can move forward,pass through obstacles,upslope,etc.It can be applied to rescue searching and materials carrying in dangerous places such as gas leaks and nuclear radiation.A parallel leg mechanism is designed,which is a three-degree-of-freedom eight-bar plane mechanism.The analysis determines the layout of the leg mechanism,determines the configuration of the whole machine,and establishes the 3D model of the leg mechanism and the hexapod.The inverse and forward solutions of the position of the leg mechanism are analyzed,the velocity Jacobian matrix and the force Jacobian matrix are derived,and the simulation verification is carried out by using ADAMS software.Based on the positional inverse solution,the working space of the leg mechanism is drawn,and the working space is optimized with the goal of maximizing the area.The velocity transfer and load carrying capacity of the leg mechanism were analyzed based on the velocity Jacobian matrix and the force Jacobian matrix.The static analysis of the whole machine was carried out,and the motor type and spring parameters of the robot were selected.Three typical common gaits are planned,the stability of the robot in the three-legged gait is analyzed,and the trajectory function of the foot during plane walking and obstacle crossing is planned.The gait and obstacle trajectory of the common terrain of the robot are analyzed.The dynamic simulation model of the hexapod robot was established.The dynamics simulations of the robot's ground walking,crossing the baffle,the cross-ditch and the climbing step were carried out.The robot-motor curves of angular displacement,angular velocity,and moment were drew,the correctness of gait planning and trajectory planning were verified.Provide a theoretical basis for the development and use of this kind of robot.