Research On The Posture Control Of Multi-Directional Jumping Motion For Hexapod Robot Based On Dynamics

Many creatures in nature have the jumping ability,which can make them better adapt to the natural environment and improve their survival ability.Therefore,more and more scholars are learning about this kind of robot.However,at present,most jumping robots only have a fixed jumping direction,can't adjust themselves in the air to avoid obstacles,and have insufficient adaptability to the surrounding environment.Based on the research status of the jumping robot mentioned above,the technical difficulties of jumping robot research are concluded,and the main substance and ways of multi-direction jumping robot research are determined in this thesis.Referring to the behavioral characteristics of jumping spiders in nature,the following research is carried out on the multi-direction jumping and posture movement of the hexapod robot:Firstly,the structure model of the hexapod robot is set up by selecting the appropriate system description method and combining it with the biological characteristics of the jumping spider.The structure model of the hexapod robot is found.The forward kinematics model of the leg is found on account of the means,and the inverse kinematics is deduced.Then,the whole body dynamics model of the hexapod robot is set up.Besides,inverse dynamics is deduced,and the driving torque of the robot joint is calculated,then the robot is driven to move.At the same time,the coupling relationship between the legs and body of the hexapod robot is analyzed.The legs are driven to move by the rotation of the leg joints,and control and adjust the posture of the body.Afterward,the pose analysis of the hexapod robot during the multi-direction jump process is carried out,including the initial attitude and the multi-direction jump attitude.And the trajectory of the hexapod robot's foot end and body centroid are planned.By combining dynamic control with compensation control,a closed-loop feedback control system of robot joint and body posture is established,which can continuously reduce the joint angle and the pose error of the fuselage during the movement process,and then can move according to the predetermined expected value.Lastly,a fictional model of the hexapod robot is created in Adams.Combined with MATLAB-Adams,the simulation of the vertical,right,and forward jumping motion experiments are proceeded.Several motion data of the hexapod robot are acquired and analyzed.The kinematics,dynamics,and motion planning of the robot and the soundness of the control method are proved to be right.In this thesis,the hexapod jumping robot is studied,and realizes the multi-direction jumping of the hexapod jumping robot.The existing shortcomings of fixed jumping direction are improved.And when the hexapod robot is in the airborne phase,it can realize the motion control of body attitude adjustment by itself,which can better adapt to the ground environment.To a certain extent,it solves the problems of insufficient adaptability and low motion efficiency of the jumping robot and provides a reference for the design and control of the jumping robot.