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Leg Structure Design of the Hexapod Bio-Robot and Research of Its Compliance Control

Author: ZhuXiaoFeng
Tutor: ZhaoJie
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Six -legged robot Modular joints Force Sensors Trajectory planning Impedance control
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 365
Quote: 0
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Abstract


As human nature to explore the continuous development of all areas being able to move freely in a complex environment increasingly widespread demand for robots. Hexapod bionic robot's ability to adapt to the terrain is relatively strong, able to walk in a complex surface efficiently, with redundant physical structure, you can lose several limbs in the case, continue to perform certain tasks. Therefore, bionic robot hexapod more suitable for field investigations, such as underwater search, and space exploration robot reliability, autonomy demanding work. The purpose of this project is to design a modular, with force sensing capabilities hexapod bionic robot's leg structure, and design of leg kinematics analysis and trajectory planning on foot, the foot end of the process of foot contact with the ground side force compliance control strategies to achieve compliance control leg. This article from the perspective of bionics, for six-legged insect legs were studied. Analysis of structural and functional characteristics of the leg, as a basis for designing complete hexapod bionic robot leg structure: complete modular joint design, high level of integration at the request effectively reduces joint size; realized integrated in the leg structure of forces and torque sensors, including the foot end of the three-dimensional force sensors and joint torque sensor design; design integrated passive leg tibia supple body binding force sensing function of the force on one leg later Compliance Control foundation. The design of kinematic analysis carried out on one leg, one leg of the DH to establish a coordinate system, obtained a leg of the robot kinematics, inverse kinematics and Jacobian matrix, as hereinafter provided robot motion and control overall condition. According six-legged robot gait characteristics and control needs, conducted a foot end trajectory planning, and the foot end of the trajectory generated by the kinematics simulation. For hexapod bionic robot foot end power supple control problem, analyzing the force of two foot end impedance control strategy. For the design of this project robot leg, using a foot end position based impedance control strategy and formula derivation and control systems through simulation, analysis of impedance parameters for tracking the impact force. For complex environment environmental parameters can not be accurately presented estimates of environmental parameters on-line impedance control strategy, through simulation shows that the method can effectively achieve the leg force supple. Finally, Adams and Matlab co-simulation to verify the impedance control algorithm.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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