Six-Legged Walking Robot (Hexabot), Kinematics, Dynamics and Motion Optimization

摘要

The movement of a walking six – legged robot hexabot (a "spider" robot) with the possibility of implementing various movements is considered. The equations of kinematics and dynamics of a separate robot leg with three degrees of freedom are written out, and the question of optimizing the robot movement is considered based on the study of dynamic equations. At the first stage for solving this problem, one leg is considered separately, as a kinematic system with open kinematics and with three degrees of freedom. The kinematics equations were presented in matrix form using the principle of rotation of the coordinate system. The dynamics equations are based on Lagrange equations of the second kind. The mass of the legs, reduced to the center of gravity, moments of inertia, moments developed by engines were taken into account, and ets. The conclusions were made about the optimal movement of the leg based on the obtained equation of kinetic energy of the robot’s leg based on the obtained equation of the kinetic energy of the robot leg. This paper doesn’t consider the movement of the entire platform (the spider’s “body”), nor does it consider the influence of the friction force that occurs in kinematic pairs and when the robot’s legs touch the surface during movement.