Design And Analysis Of Variable Configuration Hexapod Bionic Robot With Leg And Arm Integration

The research of bionic hexapod robot has high social and economic value.At present,most robots need specialized robotic arms to carry objects,but fewer have their arms and legs fused together and even fewer have flexible configurations.Therefore,this paper plans to design a bionic hexapod robot with variable configuration of leg and arm fusion.The robot can complete a variety of walking gait and the task of picking up items;In the process of walking,it can also adopt the walking style of imitating mammals and insect-like animals,which adapt to different environments.Specific research contents are as follows:By studying the structure of the spider,the function of each leg is analyzed and the principles to be followed in the structural design of the whole robot are summarized.A bionic hexapod robot with variable configuration of leg and arm fusion was proposed.According to the leg functions obtained from the analysis,the configuration designs of the ordinary mechanical leg and compound leg with handling function were finished.The corresponding mechanism was designed to determine the proportion and length of the leg.The proportion and length of each joint of the leg were determined,and the structure of 3-DOF common leg and 4-DOF with leg and arm integrated and the whole structure were designed.The leg mechanism of hexapod bionic robot is analyzed in this paper.The link coordinate system of hexapod robot was established by using the homogeneous transformtion method.The forward and reverse solutions of the common leg and the leg and arm integrated were deduced,and the virtual prototype model of the leg mechanism was established.The correctness of the virtual prototype model is verified.The positive and negative solutions of Matlab software programming and Adams simulation are compared,and the comparison results verified the correctness of the establishment of the two leg kinematics models.The foot movement trajectories of the swing phase and the support phase of the hexapod bionic robot with variable configuration were planned by using polynomial interpolation method,and the stability index is defined.The triangular gait,quadruped gait,pentapod gait and variable configuration switching gait are planned by using the gravity center following in the static gait planning method.A complete prototype model is established in Adams environment,and the planned triangular gait,the quadruped gait during walking and the variable configuration switching gait are simulated.The simulation results verify the correctness of gait planning of robot.