Abstract
In order to solve the stability problem of hexapod robot used in special environment transportation operation, this paper focus on the centroid vibration and its impact on operation accuracy during the transportation operation of hexapod robot. Firstly, the couplings between single legs and body of hexapod robot are analyzed. Linearization is used to deal with the parameter uncertainty in the coupling dynamic model of the body of the robot, and the dynamic model of hexapod robot is established. According to the dynamic model, the displacement formula of the mass center of the hexapod robot in the tripod gait and the quadruped gait is established, and the change of the mass center of the robot in different gait is analyzed. Then this paper uses SolidWorks and ADAMS to simulate the hexapod robot jointly, obtains and analyses the fluctuation of the whole centroid of the hexapod robot in tripod and quadruped gaits and joint angular velocity fluctuation and joint angular acceleration fluctuation. The results of this study will provide a theoretical basis for the design of physical prototype of hexapod robot and the gait control of hexapod robot.KeywordsHexapod robotDynamicsGait analysis
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