Stability Analysis and Simulation of Bionic Hexapod Robot

摘要

This paper studied the problems of robot stability and analysed the factors affecting the stability of multi- legged robots. The commonly used stability analytical methods of Multi- legged Hexapod robot were given. A new Bionic Hexapod Robot was applied as the research object for stability analysis,in order to accurate assess the stability of the walking robot and to better achieve the optimization control and the selection of the structural parameters of the robot. Then we focused on the discussion of the stability of the bionic hexapod robot in the horizontal plane and on the slope by using the center of gravity of the projection method and the concept of minimum stable distance. The bionic hexapod robot's gait planning was introduced,and the triangle gait movement principle of hexapod robot was analyzed. This paper also provided the relationship between the forward rotation angle of the hip motor and the half- step length S /2. Finally,the good stability of bionic six- legged robot standing on the horizontal plane or oblique plane can be proved by the Matlab simulated results of the robot. The method lays a good foundation for the future study of six- legged robot control and gait stability,and also provides a theoretical basis for further research and de- velopment of the hexapod and other types of multi- legged robots.