Study On Walking Gait And Stability Of The Rotational-legged Hexapod Robot

In recent years, robots play a more and more important role to the development of thesociety, especially the legged robots. Its flexibility and stability over various complex terrainsmake it as a research hotspot. This research is originated from “Amphibious Rescue Robot ofRotational-legged in Coalmine Mishap”, which is funded by special funds of CentralUniversity Basic research and operating Expenses. The research aims to study on the body ofcockroach, simplify its structure, design and make the amphibious robot body with six legswith only one degree of freedom, imitate the motion mechanism of the cockroach, analyse itsstability and its gait, and finally make its locomotion steadier.This thesis first presents development and the achievement of the multi-legged robot athome and abroad briefly, analyses the important of the robot’s stability and the gait to itsflexibility. On this basis of it, the author designs and manufactures the rotational-leggedhexapod robot, including the design of drop-like legs, module of motor-hermetic cavity andthe control system. Base on the design of the structure, in order to analye the robot’skinematics and dynamics, the author simplifies its model, and make statical analysis of one ofthe legs, then do deeply research on the robot’s kinematics and dynamics by establishing itsmathematical model.Secondly, based on the analysis of kinematics and dynamics, the author does researcheson the static stability margin along all the roll boundaries in theory by establishing themathematical model. And then, the author analyses all the influencing factors to the dynamicstability margin by zero moment point, laying the foundations for the robot’s gait in the nextparagraph.Moreover, combining with the former analysis of the stability margin of the robot andthe special legs, in order to make the robot steadier when it walks, this thesis poses the way ofrotation without uniform speed in single period on the programming of the robot’s gait, andstudy on it in theory.At last, aiming at the research on the key technologies of the robot, the author does theexperiments on simulation and practically respectively. The author demonstrates thecorrectness of the robot’s stability and the way of rotation without uniform speed in singleperiod on the programming of the robot’s gait on simulation, by the use of ADAMS. On thehand of practicality, the author designs and manufactures the model of the one legforce-position control experiment. By the use of MATLAB/Simulink and the dSPACE, a number of experiments of programming and the semi-hardware simulation are done. Andfinally, the experiments demonstrate the rationality and the correctness of control of therotation without uniform speed in single period on the programming of the robot’s gait.