面向崎岖地形的六足机器人运动能力分析.

The grasp of the moving capability of a robot is crucial to the motion planning and control of the robot. The moving capability of a hexapod robot which is used over rugged terrains is thus analyzed. First, the hexapod robot platform as well as the system design is introduced.Then, the kinematic models of the hexapod robot leg and the parallel mechanism consisting of the robot torso and each support leg are built respectively. Their workspaces are also analyzed.Finally, the hexapod robot simulation platform with a rugged terrain is built based on Adams and Matlab, and the motion simulation with the hexapod robot is performed. Results show that, through reasonable motion planning that takes account of both the moving capability and terrain profiles, it is possible to effectively enhance the mobility of a hexapod robot over rugged terrains. [ABSTRACT FROM AUTHOR]