A Study On Motion Planning And Simulation For A Multi-legged Walking Machine

Multi-legged walking mechanism has been better than the wheeled and crawlertools,because it can adapt to the complex unstructured environments,which gets the attentionof many scholars. Under the trend of intelligence,most of the walking mechanism and controlfor them is more and more complex, so that they are not widely used.This paper refers to asix-legged walking machine,which has a simple structure,high efficiency and low energyconsumption,so it is easily controlled.Some simulation has been done to determine thefeasibility of the program and its kinematics and dynamics analysis provides a theoreticalbasis for the design and further development of the walking mechanism.（1）The prototype embodies the leg’s basic working principle, but it consists ofsome flaws.Therefore,this paper develops two effective projects for it through in-depthanalysis. Three-dimensional solid modelings for the leg and the complete machine have beenbuilt by Pro/E software.Then motion simulation has been done to make sure that two projectscan work indeed.The foot trajectory curve can be found from the result.To take rationality andoperability into consideration,the best project is chosen and the modeling is built for it.（2）Kinematics analysis is made for the project at the state of the leg lifting andlanding.The position of each node in the movement can be showed with nonlinearequations.And the simulation result shows the angle, angular velocity and angularacceleration curve changing over time.Then the inverse kinematics analysis is made for themodel.Above all,potential problems are predicted according to the results of the analysis, andthe corresponding solutions are proposed.（3）By establishing the reference coordinate,body coordinates and the legs agenciescoordinate,the kinematics calculation for the six-legged walking mechanism is made.Thus,thedrive angle can be identified by the body posture,the body posture can be also identified bythe drive Angle.Then,the walking gait is determined and the walking gait parameters arefigured up.At last,the static stability analysis is carried on the machine at the gait.（4）The three-dimensional entity model of the walking mechanism is imported intoADAMS software, and a virtual prototype model of the machine is set up. Using thesoftware’s powerful faction on calculating,the stress distribution in the process of walking issimulated,then a more vivid walking curve and the required drive torque are drawn. （5）A experimental prototype for the six-legged walking mechanism is set up,andsome simple observation and measurement has been carried on the static mechanism.Then werun the experimental prototype under no-load condition.By comparing the virtual prototypeand the experimental one,the advantages and disadvantages between them have beenanalyzed.