Xu Shoulin, He Bin, Hu Heming
Department of Control Science and Engineering, Tongji University, Shanghai 201804, China.
Appl Bionics Biomech. 2019 Apr 1;2019:6146214. doi: 10.1155/2019/6146214. eCollection 2019.
Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the robot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical condition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is operated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and stability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod robot are correct.
作为一种仿生机器人，壁面攀爬六足机器人因其广泛的实际应用而成为广泛研究的焦点。本文的最大贡献是分析壁面攀爬六足机器人的运动学和稳定性，以便为机器人在壁面上的稳定行走和控制提供理论依据。首先，基于D-H方法建立了壁面攀爬六足机器人的运动学模型。然后，为了防止机器人倾倒，对壁面攀爬六足机器人的稳定性进行了深入分析，得到了使机器人倾倒的临界条件。之后，对壁面攀爬六足机器人进行运动学仿真以分析其运动性能。最后，通过实验验证所提出的运动学模型和稳定性。实验结果表明，壁面攀爬六足机器人的运动学模型和稳定性条件是正确的。
