Design And Movement Performance Of Bionic Robot For Hexapod Crawling

At present,because of its strong adaptability to the environment and a wide range of exploration,rescue and other USES,multi-legged robots have gradually replaced the traditional robots,become the focus of people from all walks of life.The research on the structure optimization and movement ability of hexapod robot can effectively improve the low efficiency and small range of movement of hexapod robot.In recent years,there have been many researches on the performance of hexapod robot.In this paper,some design deficiencies are analyzed and optimized on the basis of the original,focusing on the optimization of the structure of the robot and the analysis of the leg movement characteristics and obstacle crossing ability.Through the analysis of the mechanical structure,walking mode and movement ability of the existing hexapod robots,three shortcomings of the previous research on hexapod robots are summarized.(1)Lack of analysis on the size relationship of multi-link mechanism with legs;(2)Lack of fuselage structure analysis,especially in the optimization of nose diversion Angle;(3)The research on the land movement ability of hexapod robot is still vacant.According to the physical production foundation of quadruped robot in the early stage,combined with the above vacancy point and the research target of the robot with large load,high speed and light mass in this paper.The specific work is as follows:(1)Kinematics research.The method of creating D-H equation and solving it is adopted to obtain the change relationship between the leg motion position of hexapod robot and the rotation Angle of each link,thus laying a foundation for the following research and analysis of the single-leg structure proportion and motion curve design.(2)Structure optimization scheme of the whole robot.First,the structure of the legs was studied.As a result of the three-link single leg,the size ratio of the connecting rod and joint rotation Angle and other factors will affect the motion area of hexapod.Therefore,this paper combined with Matlab software and kinematics calculation,the foot end motion area simulation analysis method,to optimize the link ratio,and then put forward the length of one leg three bar proportional relationship,and light hole design.Second,because the fuselage structure plays a key role in the turbulence growth rate,this paper specially USES the Latin hypercube theory to optimize the flow Angle of the nose,and obtains the optimal value of the nose Angle.Thirdly,because the structure size of the fuselage has a great influence on the stability margin of the whole machine,this paper analyzes the change relation of the random body size of the stability degree,and obtains the influence relation of the front and middle size on the stability,and further optimizes the fuselage size.(3)Robot leg movement characteristics and gait.Due to the instantaneous acceleration when the robot legs move,the ground will bring huge impact force to the robot,which reduces the mechanical strength of the legs.Therefore,on the basis of the analysis and research on the gait of hexapod movement and the establishment of the gait of three-legged movement,this paper USES the multi-term curve to optimize the path curve of the swinging foot.Make the instantaneous contact acceleration between the swinging foot and the ground zero,eliminate the impact force of the leg.(4)Land performance research of robot.Obstacle-climbing motion is an intuitive way to evaluate the performance of a robot.Since the parameters such as the elevation Angle of the fuselage and the position of the center of mass all affect the obstacle surmounting ability,this paper analyzes the range of the change of the center of mass of the robot,and based on the critical analysis method of obstacle surmounting,studies the stability of the robot under various road conditions such as six-legged climbing stairs and horizontal ditch.The relationship between the ability of six feet to climb over obstacles and the parameters of the whole machine is obtained.(5)Results simulation based on Adams.Finally,Adams is used to verify the results.Created motion model by Solidworks in Adams.The force balance and the change of the center of mass when the legs are in contact with the ground during the robot's movement are simulated.In summary,this paper focuses on the structural optimization of hexapod robot and its motion performance in land environment.Finally,Adams data is used to verify that this paper can satisfy the motion balance condition of the whole machine after optimizing the overall structure and leg motion path.