Gait Planning of Hexapod Walking Robot based on 3-UPU

Xiujiao Wang; Ruiqin Li; Hongwei Meng; Xiaoqin Fan; Wangwang Guo

doi:10.16578/j.issn.1004.2539.2019.03.030

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Gait Planning of Hexapod Walking Robot based on 3-UPU

Development·Application | 更新时间：2022-10-03

- Gait Planning of Hexapod Walking Robot based on 3-UPU
- Journal of Mechanical Transmission Vol. 43, Issue 3, Pages: 152-155(2019)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.03.030
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王秀娇,李瑞琴,孟宏伟等.基于3-UPU六足步行机器人的步态规划[J].机械传动,2019,43(03):152-155.

Wang Xiujiao,Li Ruiqin,Meng Hongwei,et al.Gait Planning of Hexapod Walking Robot based on 3-UPU[J].Journal of Mechanical Transmission,2019,43(03):152-155.
王秀娇,李瑞琴,孟宏伟等.基于3-UPU六足步行机器人的步态规划[J].机械传动,2019,43(03):152-155. DOI： 10.16578/j.issn.1004.2539.2019.03.030.

Wang Xiujiao,Li Ruiqin,Meng Hongwei,et al.Gait Planning of Hexapod Walking Robot based on 3-UPU[J].Journal of Mechanical Transmission,2019,43(03):152-155. DOI： 10.16578/j.issn.1004.2539.2019.03.030.

摘要

提出一种基于非对称3-UPU并联机构的新型六足步行机器人，其具有承载能力大、通过能力强、控制容易等优势。首先，对六足步行机器人进行结构设计，然后，综合考虑机器人的稳定性和腿部干涉两种情况，设计了最大横向移动步幅。还对六足步行机器人进行了步态规划，包括机器人两组腿的占空系数、运动次序、运动步幅、运动轨迹及各分支等效杆长随机器人的移动的变化。

Abstract

A new hexapod walking robot based on asymmetric 3-UPU is proposed， it has the advantages of large carrying capacity， strong passing ability， easy control and so on. Firstly， the structure of hexapod walking robot is designed， then the stability of the robot and the interference of the legs are considered synthetically， the maximum transverse moving stride is designed. The gait planning of the hexapod walking robot is carried out， including the duty cycle coefficient of the two groups of legs， the order of motion， and the moving stride， the movement trajectory and the equivalent rod length of each branch vary with the movement of the robot.

关键词

六足步行机器人非对称3-UPU步幅规划轨迹规划

Keywords

Hexapod walking robotAsymmetric 3-UPUStride planningTrajectory planning

references

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