Research On Motion Control And Gait Planning Of The Multi-legged Wall-climbing Robot

The Multi-legged wall-climbing robot, with its redundant characteristics, has very good adaptability to the environment and flexibility in movement compared with the wheeled robot and tracked robot. It can adapt to and walk on both the side and the underside of the bridge with the help of the adsorption devices of its plantar. Therefore, the Multi-legged wall-climbing robot has a wide application prospect and has drawn much attention of researchers from all over the world with its important research significance and practical value.Aimed at the Multi-legged wall-climbing robot applied to bridge detection, this paper analyzes its mechanical structure, control system, kinematics, synchronized and coordinated control methods, gait planning, etc..First, the paper analyzes the current research situation of the Multi-legged wall-climbing robot at home and abroad and summarizes the researches on motion control methods and gait planning. Next, combined with the requirements of the hexapod wall-climbing robot in bridge detection, the paper designs the mechanical structure of the robot and puts forward its master-slave distributed control system based on CAN Bus. The main controller adopts the small size IPC.Second, the papers analyzes the kinematics on the basis of the mechanical structure of the hexapod robot with the D-H method. And its forward and inverse kinematics equations are derived respectively, which is proved that its inverse kinematics equations has a unique solution under some certain constraints. Next, the motion control functions are verified by the co-simulation experiment with the methods of MATLAB and ADAMS. After that, the paper analyzes the synchronized and coordinated control method for each joint of the Multi-legged wall-climbing robot. By adopting the broadcast command from the CAN bus to make motors start synchronously, we propose the motor speed distribution method on the basis of the joint angle values and then achieve the coordinated motion control of each joint. In addition, we analyze in this paper the safety of the Multi-legged wall-climbing robot, mainly including the design of the sucker and the communication reliability. The monitoring mechanism of wireless signal between PC and the robot, the monitoring mechanism of CAN bus between the master controller and the slave controllers are developed to further strengthen the reliability of the whole communication system.Finally, we analyze the static stability and gait planning of the Multi-legged robot and conduct the simulation verification with ADAMS. In this paper we focus on the analysis and verification of the implementation method for the ground-side wall gait. Furthermore, the experiments of typical gaits are conducted on the built experiment platform to verify the motion control method and the gait planning feasibility.