Configuration Design And Motion Analysis Of Walking Robot Based On 2-RRU/URR Parallel Module

With the deepening of human research and exploration in nature and even outer space,the demand for mobile robots that can work in extreme and complex environments is gradually increasing.Compared with wheeled robot,crawling robot and rolling robot,walking robot has higher ability to deal with complex terrain.At the same time,modular robot can change the corresponding topology according to the different task objects and working environment,which makes modular walking robot become the focus of the majority of researchers.In this paper,the walking robot based on 2-rru / URR parallel module is taken as the main research object,the configuration design and motion analysis of the walking robot with different number of legs are carried out,and the trajectory planning and motion control of the hexapod robot are studied.Firstly,based on the screw theory,the kinematics analysis of the mechanism is carried out,including the degree of freedom,inverse position solution and workspace solution.According to the motion/force transfer performance index,the motion performance and motion characteristics of the mechanism are analyzed,and the singularity is studied.Secondly,the parallel module is used as the main joint to design the configuration of different walking robots,including biped,quadruped and hexapod robots.Based on graph theory,the topological structures of different configurations of walking robots are analyzed.According to the difference of configuration,the motion efficiency of different biped robots is compared.According to the difference of support,the step sequence of quadruped robot and hexapod robot are analyzed.According to the D-H method,a coordinate system is established on the legs of the walking robot,and the kinematics of the walking robot is analyzed.According to the stability margin of the robot,the relationship between the body size parameters and the stability of the hexapod robot is analyzed.Thirdly,the foot trajectory planning of the walking robot is carried out,the characteristics of different trajectory planning methods are compared,and their rationality is verified.The CPG gait control method is selected to control the gait of the walking robot,and the appropriate neural oscillator is selected as the CPG unit to establish the CPG control model.The relationship between the model parameters and the output waveform is analyzed,and the relatively appropriate range of parameters is determined.Finally,MATLAB and Adams are used to simulate the hexapod robot.For the design of the deployment structure and control system of the hexapod robot,the experimental prototype is developed,and the gait experimental analysis is carried out.