Structural Design and Trajectory Optimization of Hexapod Robot with Fewer Actuators

Yin Zhipeng; Hou Yu; Dai Chenchao; Dai Mengwan

doi:10.16578/j.issn.1004.2539.2016.09.019

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Structural Design and Trajectory Optimization of Hexapod Robot with Fewer Actuators

更新时间：2022-10-20

- Structural Design and Trajectory Optimization of Hexapod Robot with Fewer Actuators
- Vol. 40, Issue 9, Pages: 91-94(2016)
- 作者机构：
  
  1. 武汉科技大学机械自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.09.019
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[1]尹志朋,侯宇,代陈超,代梦婉.少驱动六足机器人结构设计与轨迹优化[J].机械传动,2016,40(09):91-94.

Yin Zhipeng, Hou Yu, Dai Chenchao, et al. Structural Design and Trajectory Optimization of Hexapod Robot with Fewer Actuators. [J]. 40(9):91-94(2016)
[1]尹志朋,侯宇,代陈超,代梦婉.少驱动六足机器人结构设计与轨迹优化[J].机械传动,2016,40(09):91-94. DOI： 10.16578/j.issn.1004.2539.2016.09.019.

Yin Zhipeng, Hou Yu, Dai Chenchao, et al. Structural Design and Trajectory Optimization of Hexapod Robot with Fewer Actuators. [J]. 40(9):91-94(2016) DOI： 10.16578/j.issn.1004.2539.2016.09.019.

摘要

设计了一种具有良好稳定性和越障能力的少驱动六足机器人。对少驱动六足机器人的整体结构以及行走步态进行了分析,在此基础上建立了机器人足端点轨迹方程,得到了机器人行走和越障时足端点的运动要求。以六足机器人运动平稳性为目标函数,综合考虑杆长条件、传动性能、几何结构、越障条件和边界条件五类约束,建立了机器人足端轨迹优化模型。利用MATLAB优化工具箱的约束非线性函数fmincon对影响少驱动六足机器人足端轨迹曲线的参数进行优化,得到了满足运动特性要求的机器人腿部机构尺寸。通过对优化后得到的足端轨迹的分析,证明了少驱动六足机器人腿部机构的合理性,为后续六足机器人的研究与开发奠定了基础。

Abstract

A hexapod robot with fewer actuators,good obstacle capability and good stability is designed.The whole structure of the hexapod robot with fewer actuators and the gait of walking are analyzed. On this basis,the equation of foot trajectory is established. The requirements of foot movement and obstacle crossing are obtained. The mathematical model of the foot trajectory of the hexapod robot with fewer actuators is established.The trajectory optimization model of foot trajectory for the stability of hexapod robot movement is established considering five types of constraints-the rod length,transmission performance,geometric structure,obstacle and boundary conditions. By using MATLAB optimization toolbox constraint fmincon function,the parameters effecting the foot trajectory of the hexapod robot with fewer actuators are optimized. The dimensions of leg mechanism of the hexapod robot that meet the kinematic characteristics requirements are obtained. The rationality of the leg mechanism is proved by the analysis of the optimized foot trajectory. All of these provide the foundation for the following research and development of the hexapod robot.

关键词

六足机器人腿部机构足端轨迹优化设计

Keywords

Hexapod robotLeg mechanismFoot trajectoryOptimization design

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