Mechanical Modeling And System Simulation Of Hexapod Robot For Multi Physical Terrain

Hexapod robot has the advantages of high carrying capacity and strong mobile stability.As the moving process of the hexpod,the foot and the ground adopt discontinuous support.It has unique advantages in the areas where wheeled and tracked robots are inefficient or difficult to pass.It has a broad application prospect in the complex environment.Most of the terrain in the field is steep,wet,muddy and other complex terrain.When the hexapod robot walks in sand,soil and other terrain,the foot is prone to sink;When walking on wet grass,snow and ice,it is easy to cause foot slipping.In this paper,aiming at the dynamic influence factors of hexapod robot in the field terrain,the dynamic mechanical experiment of multi physical characteristics terrain is carried out and its dynamic mechanical characteristics are analyzed;Considering the influence of dynamic factors on the mechanical properties of foot to ground contact,the normal dynamic settlement mechanical model and the tangential dynamic sliding mechanical model for multi physical feature terrain are established respectively,and the unified dynamic foot to ground mechanical model for multi physical feature terrain is derived and established;The first mock exam platform is built based on the unified model and the high fidelity of the simulation system is verified by the six legged robot simulation platform.In order to establish an accurate mechanical model of foot ground interaction,this paper carried out a mechanical experimental study on multi physical terrain;Marble,sand and ice are selected as three typical terrain types;Based on the single leg static test,the force displacement variation law under quasi-static condition is obtained;Considering the dynamic factors in the process of foot ground contact,the dynamic mechanical test of single foot is carried out,and the mechanical characteristics of different terrain are analyzed,which provides the experimental basis for deducing the unified dynamic foot ground mechanical modeling of multi terrain.After deeply analyzing the results of dynamic foot mechanics test,a unified dynamic foot mechanics model with multiple physical characteristics is established.In this paper,based on the contact mechanics theory,a dynamic foot mechanics model of hard ground/ ice surface is established;Considering the factors of dynamic sliding,a dynamic mechanical model of tangential foot is established;Based on the analysis of the similar characteristics of mechanical models between different terrains,a unified dynamic foot ground interaction mechanical model with multiple physical characteristics is established.On the basis of establishing a unified mechanical model of multi terrain,the simulation system of hexapod robot is built and its fidelity is verified.By compiling the iterative algorithm of the unified mechanical model,the foot ground contact mechanics is solved;Through the construction of multi physical characteristics terrain digital elevation map,the simulation terrain is built;The dynamics simulation system of hexapod robot is established based on the visual simulation software of vortex;The accuracy of the mechanical model is verified by comparing the results of single foot test and simulation.By comparing the simulation results of the whole hexapod robot,the fidelity of the simulation system is verified.In this paper,the high fidelity simulation research of hexapod robot is carried out by using the technical route of experiment modeling simulation,which has certain guiding significance and engineering value for the design,operation control and Simulation Research of hexapod robot system.