Design Of Hexapod Robot Based On Parallel Structure

With the rapid development and progress of society,robot technology is used in many fields in modern society.Mobile robot has the ability to move,and its application scope is expanding day by day,among which multi-legged robot has developed rapidly in recent years.A typical multi-legged robot usually includes more than four mechanical legs,each of which is driven by multiple joints.On the one hand,it has the advantage of high flexibility,on the other hand,it has the disadvantages of complex mechanical structure,poor load capacity and high hardware cost.Based on the 6-DOF parallel structure,a new hexapod robot is designed and developed in this paper,which has the advantages of omnidirectional motion ability,high load capacity,high reliability,simple mechanical structure,low hardware cost and avant-garde appearance.It is suitable for indoor environments such as museums,science museums and shopping malls,and has good application and market prospects,and also has far-reaching significance and value for the application expansion of 6-DOF parallel structure.Firstly,this paper introduces the mechanical structure,electrical system and control system design of hexapod robot with parallel structure.The robot obtains its motion ability by extending the 6-DOF parallel structure.Its driving mechanism is linear electric cylinders driven by six DC servo motors,which are powered by lithium batteries and controlled by embedded computers.This paper introduces the motion control algorithm and gait control algorithm of hexapod robot,which are used to control the robot to walk in all directions on the ground.This paper introduces the remote control system of the robot.The real-time motion state of the robot is photographed by binocular depth camera,and video images and control instructions are transmitted remotely through wireless network,so that operators can monitor the robot motion through monitors and control handles.In this paper,the pedestrian tracking algorithm based on DeepS ORT,the ground detection separation algorithm based on depth camera and the path planning algorithm based on A~* are studied,so that the robot can automatically track the accompanying pedestrian movement.Based on the above work,this paper provides a solid foundation for the further development and practical application of robots.