Design And Planning Of Vehicle Chassis Maintenance Hexapod Robot

Among foot robots,hexapod robot has more branched chains than biped robot and quadruped robot,so it has better mechanical system stability and redundant movement ability,and is a more potential application development platform.Therefore,based on hexapod robot,this paper develops a walking operation integration system to carry the chassis maintenance of armored vehicles.In order to achieve the hexapod robot walking operation integration system,this thesis studies the system design,system modeling,motion planning and operation planning of hexapod robot.The main contents of this thesis are shown below:1)Aiming at the functional requirements of the chassis maintenance of armored vehicles,the mechanism design of the hexapod robot is researched,and a size optimization method of the robot based on multiple constraints is proposed,which makes the results of size optimization more useful for engineering;2)The topological structure of hexapod robot is analyzed,and the kinematics model of hexapod robot is established based on the single leg kinematics solution of the robot;3)The motion planning of the hexapod robot is analyzed,the tip trajectory of the hexapod robot is planned,and the terrain adaptation strategy of the hexapod robot is proposed;4)Aiming at the problem of dismounting and installing bolts in the operation planning of hexapod robot,the Mi-word hole searching method and the compliant control strategy are proposed,which realize the maintenance function of hexapod robot to the chassis of armored vehicle.The research of this thesis paper realizes the operation function of energy interaction with the external environment of hexapod robot,which becomes a new application case of the foot robot and provides a reference for the application development of the foot robot.