基于步态规划的六足机器人运动学分析与计算

分析六足机器人的侧倾、俯仰、偏航变化情况，验证步态规划的正确性。对设计的六足机器人进行运动学分析，计算机器人运动学的正解和逆解，分析六足机器人运动的时序图，利用五次多项式对机器人足端轨迹进行步态规划。在ADAMS中对机器人进行了运动仿真，得到了运动过程中的RPY角。最后制作了六足机器人样机，测试运行过程中的RPY角。仿真和样机测试结果表明：机器人在步态运动过程中，RPY角度在前进方向上误差最大不超过1°,验证了运动学计算和步态规划的正确性。

Kinematics Analysis and Calculation of Hexapod Robot Based on Gait Planning

The change situations of roll,pitch and yaw of the hexapod robot were analyzed to verify the correctness of gait planning.The kinematics analysis of the designed hexapod robot was carried out,and the for ward and inverse solutions of the robot kinematics were calculated.The time sequence diagram of the hexapod robot motion was analyzed.The foot end trajectory of the robot was planned by using the quintic polynomial.The motion simulation of the robot was carried out in ADAMS,and the RPY angle during the motion was obtained.Finally,a hexapod robot prototype was made to test the RPY angle in the running process.The simulation and the prototype test results show that the RPY angle has a maximum error of not more than 1° in the forward direction during the gait movement of the robot.The correctness of kinematics calculation and gait planning is verified.