Design And Gait Analysis Of Six Legged Robot

With the continuous development of social progress and the continuous exploration of various fields,making robots which adapt to different environment has become the urgent needs of the human.Compared to traditional robots which move by wheels,legged robots offer more superior performance of dealing with complicated terrain conditions.Hexapod robot as a typical legged robot,people have been studying it all the time.Through the study and literature reading of hexapod insects,a hexapod robot with large volume and heavy load are designed,and the principle prototype is made to verify the performance of the robot.First of all,through the study and literature reading of hexapod insects,a design theory that includes the distribution of the legs,analysis of spatial mechanisms,the design of the whole structure,design of trunk structure is made.Then the principle prototype is made through using the theory.Afterwards a reasonable design scheme is reached through static analysis and finite element analysis.Secondly,the D-H model is established to analyse forward and inverse kinematics of the legs.We can get the relationship between the angle of the joint and the position of the foot.Then the advantages and disadvantages of three gait are compared in detail through analyzing duty cycle and stability of robot.We choose suitable gait to be the gait of robot and experimental verification would be performed on the principle prototype.Finally,a hexapod robot electrical control system including motor function module,camera function module and energy module are built.In order to achieve the desired goal,each module is analyzed and experimental verification is performed on the principle prototype.In a word,the mechanical structure and control system of the hexapod robot are designed.On this basis,kinematics analysis and gait analysis results are applied to design the hexapod robot and performed on the principle prototype.This dissertation is a good guidance for the design of hexapod robot.