Research On Gait Design Of Hexapod Robot In Complex Inclined Environment

Compared with traditional wheeled and crawler robot,hexapod robot has rich gait and structural characteristics of high redundant degrees of freedom,and also has good static stability,which has been paid more attention.As a typical multi legged robot,hexapod robot is widely used in complex and rugged slope environment,dissertation will take the hexapod robot as the research object,and take its high environmental adaptability and high stability as the goal,and deeply discuss the body structure,terrain classification,swing leg motion design and foot landing point evaluation.Finally,the running status of the robot in the complex inclined environment is analyzed and evaluated through simulation experiments.Firstly,the configuration of the hexapod robot is analyzed.In order to improve the mobility and stability of the robot in complex terrain,the diagonal distribution structure is adopted in the structural design of the robot;Through the D-H method and vector graph method,the kinematics modeling of hexapod robot is carried out,and the forward and inverse kinematics settlement is completed.The workspace of robot leg is simulated and verified by MATLAB software.Secondly,Extract the terrain feature values of the hexapod robot in the complex environment,that is,slope and undulation.According to the three aspects of generalized set,distribution function and complexity reasoning,the definition of terrain complexity and the description of complex features are completed,and the quantitative expression of terrain complexity is realized.Through the terrain rasterization expression,the spatial variation law of surface morphology is explained.The quadric surface method in local surface fitting method is used to extract the eigenvalues in complex environment.Thirdly,according to the influence of different inclined terrain on the robot,the inclined terrain is classified and analyzed in advance,and then the gait design of the robot is completed according to the classified terrain characteristics,including triangular gait planning,primary foot trajectory planning,secondary foot trajectory planning and the evaluation of leg landing points.The mathematical method of foot trajectory planning is verified by MATLAB software simulation.Finally,build MATLAB and ADAMS joint simulation platform,and in the simulation environment,three kinds of inclined terrain,flat,convex and concave,are established respectively.By observing the fluctuation of robot body attitude angle and the change of leg joint angle under the three inclined environments,it is reasonable to prove the effectiveness and applicability of gait designed for complex inclined surfaces.