Design And Research Of Three-leg Omnidirectional Motion Platform

With the rapid development of technology in real life,mobile robots play an important role in disaster relief,military activities,industrial production,and daily life.Therefore,the development of robots is the hot topic of current research.This thesis proposes a design of three-leg omnidirectional motion platform which is more stable than a two-legged or multi-legged robot and with the flexibility at the same time.This thesis first investigates the current situation of the development and application of three-legged"bionic"robots at home and abroad,and analyzes the practicality and feasibility of three-legged robots in daily life.Aiming at the research of these three-legged robots,the three-leg omnidirectional motion platform system consisting of PC,STM32F407 microcontroller and various sensor modules is proposed in this thesis.Each foot is identical and independent of each other and adopts a structure similar to a biped,with a hip joint,a knee joint,and an ankle joint.The three-legged omnidirectional motion platform system can control a variety of walking postures,including a long-distance cross walking mode which is similar to human cross-walking;a close-range peristaltic walking mode;a straddle-type walking mode that spans lower obstacles;and a detailed gait theory analysis of the infrared obstacle avoidance turning mode of crossing the higher obstacle,and the three-legged omnidirectional motion platform is made.The system platform is an open platfonn that can carry various sensors.The module of this thesis is equipped with motor drive module,wireless communication module,infrared obstacle avoidance module and video transmission module.For each,the principle and process of its basic design are introduced.The core chip or device used by each module is introduced and selected,and the detailed circuit schematic and test process are given.Finally,the main work that has been completed in the design process of the thesis is summarized,and the deficiencies and the areas that need further improvement are proposed in the paper.