Mechanism Design And Analysis Of A Hexapod Robot With Waist

With the continuous development of robot technology,hexapod robots have gradually been widely used in industry,agriculture,service industry and other industries.In this paper,a waist hexapod robot with parallel waist joint mechanism is proposed.The waist hexapod robot can adapt to the application scenarios such as ladder climbing,obstacle crossing and ditch crossing.Firstly,the structure of the leg mechanism and the waist joint mechanism of the sixlegged robot with waist is designed,the overall layout of the six-legged robot with waist is planned,the three-dimensional model of the six-legged robot is established,and the position analysis of the leg mechanism,the waist joint mechanism and the overall machine is carried out,and a motion example is given to verify the position analysis results.Secondly,the workspace of leg mechanism and lumbar joint mechanism is drawn based on position analysis,and the extended leg workspace distribution diagram is drawn according to the coordinated motion of the two mechanisms.Then the velocity Jacobian matrix of leg mechanism and lumbar joint mechanism is derived,and the evaluation index of velocity transmission performance is defined.According to the evaluation index of the workspace area and speed transmission performance of the mechanism,the dimension parameters of the leg mechanism and the waist joint mechanism of the six-legged robot with waist are optimized.Then,the static performance of the leg mechanism of the six-legged robot with waist is analyzed,and the evaluation index of the bearing capacity performance is defined to evaluate the distribution of the bearing capacity of the leg mechanism in the workspace.Based on the virtual spring method,the stiffness of the lumbar joint mechanism is analyzed,and the stiffness distribution diagram of the lumbar joint mechanism in the workspace is drawn.On this basis,the static analysis of the whole machine of the six-legged robot with waist is carried out.Finally,based on the triangular gait of the hexapod robot,the gait planning of the waist hexapod robot,the gait stability analysis,and the foot end trajectory planning of the leg mechanism are carried out.Finally,the gait of the six-legged robot with waist walking on flat ground,crossing ditches,climbing stairs and turning in situ is simulated.The simulation results show that the design scheme of the six-legged robot with waist basically meets the design requirements.This paper lays the foundation for the research and development of this kind of six-legged robot with waist.