| The ever-growing application of human science and technology,coupled with the speed of exploring nature,has necessitated the need for robots to possess a mobile capacity,necessitating their ability to traverse intricate terrain autonomously.Hexapod robots possess the capacity to surmount impediments and adjust to intricate terrain,and can be employed as a multi-degree-of-freedom mobile bearing platform to accomplish mobile tasks in unstructured terrain.The article aims to explore the flexible torso configuration,high adaptability walking control algorithm,and overall motion control framework of hexapod robots in unstructured environments.Firstly,a new type of hexapod robot is designed and analyzed,and its structural design is introduced.The 3-Dimentional model and mechanism diagram of the robot were provided.By analyzing the relationship between the robot’s trunk configuration and joint angle,the transformation of the trunk configuration is given.The robot can achieve multiple configurations by changing the angles of multiple actuators at its torso,thereby improving its flexibility in facing unstructured environments.Secondly,by applying Homogeneous coordinates transformation and D-H parameter method,the Kinematics analysis of the six legged robot’s torso subsystem and leg subsystem is carried out,and the robot dynamic model is disassembled according to the characteristics of the robot,including the transformation between the body coordinate system and the leg coordinate system,the forward Kinematics analysis of the foot end coordinates,and the Inverse kinematics analysis of solving the leg joint angle,so as to build a more accurate dynamic model.Subsequently,in order to improve the mobility performance of the hexapod robot in complex environments,a foot trajectory tracking control based on the Udwadia-Kalaba equation can be adopted in the study.Through trajectory planning,motion stability and workspace of structure is analyzed,and the trajectory are introduced as constraint conditions into the constraint dynamics model of the robot,and the analytical control force required for the entire system is solved based on the Udwadia-Kalaba equation.Finally,in order to enhance the adaptability of the hexapod robot in unstructured environments,a feedback control method can be adopted to achieve high adaptability and stability of the robot in complex environments.In summary,a hexapod robot with flexible structure is studied and analyzed.Focusing on its structural design in unstructured environments and motion control for multi constraint scenarios,laying the foundation for the research of hexapod robots in complex scenarios. |
