The Design And Analysis Of Underactuated Six-legged Walking Robot

Multi-legged walking robot,compared with wheeled or tracked locomotion,offers more superior performance of dealing with complicated terrain conditions and therefore has been given great concern. Among different kinds of multi-legged walking robots,six-legged walking robot has been well received by numerous robotic researchers, because of its superior walking performance, good terrain adaptability and stability. Six-legged walking robot has a very bright future in the earthquake relief, military transport, explore outer space and other aspects. However, the existing walking robot still has many areas to improve, especially the control system. The more DOF of the leg structure, the more complex of the control system. Therefore, this article starts with the analysis of the leg structure, in order to design a kind of six-legged walking robot with single DOF leg mechanism, which is relatively simple and high reliability.Firstly, based on the analysis and comparison of the existing leg mechanism, obtained a kind of single DOF leg mechanism by means of software, ADAMS, and other related, to optimize. Then proposed a design of six-legged walking robot. Using the “Top-Down”design method, successfully built the 3D model of the six-legged robot in Pro/E. In the gait planning, inspired by the reptiles, have planned a triangular lateral walking gait. With the Pro/E’s motion skeleton function, the gait stability were analyzed and each foot starting angles to meet the stability requirements were identified.Secondly, using D-H kinematic analysis and screw theory carried out the positive/inverse kinematics’ solutions of the leg structure and the jacobian matrix of velocity. After completion of the above work, using MATLAB/SIMULINK, the software which is famous for its powerful data analysis and graphic function, established the leg structure’s simulation model to further validate the feasibility of the single DOF leg institutions.Finally, the six-legged walking robot’s parametric model is built and simulated in ADAMS software.The result of analysis proved that the six-legged walking robot’s moving ability and gait stability and continuity. Meanwhile, also obtained the relevant motion curve of the robot and has setted a good foundation for the future optimization.