| In order to dealing with all kinds of complex terrain environments and adverse working conditions,people devised mobile robot for working replace human,and it proved that it is doing very well in it's work.Compared with those robots which move by wheels,legged robot has broad application prospect in the mobile robot field,especially the hexapod mobile robot,it has good adaptability to complex terrain,load capacity and high operation stability.After studying the hexapod mobile robot structure and reading literature,a new structure hexapod mobile robot has been designed,in order to design a hexapod robot whitch can easily control and possesses load-carrying.Then made a principle prototype to validate the performance.Firstly,a new structure of hexapod mobile robot been designed,includes robot leg's structure design,the length of leg's design,model selection of driving parts,find each joint's rotative angle;Consider robot stability,find a reasonable distribution of robot legs;Use the finite element software ANSYS to check up the key components then obtain the stress and distortion images.Secondly,after structure design,the paper analyzed the structure in theory,includes set up positive and reversal kinematics model of the legs,analyze the workspace of the robot's leg and obtain the workspace nephogram;Analyze three typical gait of hexapod robot,compare the advantages and disadvantages,use ADAMS software to make motion simulation analysis,then the paper obtain the motion stability and angular curve graph to verifies the rationality of structure design.Finally,a hexapod robot principle prototype including control modules is built.Put control modules inside robot to verify it's load-carrying ability and chose three typical gait to make walking experiment,compare with the result of motion simulation,then observe the stability,leg's swing flexibility and if there aremovement interference. |
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