中北大学学位论文
positive solution example of the mechanism is obtained, and the fitness curve of the positive
solution of the mechanism is obtained using Matlab software. Then the velocity Jacobian matrix
of the mechanism is obtained based on the inverse solution equation of the mechanism position.
Then, the singularity of 2-UPU/2-RPR redundant parallel mechanism is analyzed by Jacobian
matrix. The workspace of the mechanism is obtained usinglimit position exploration method,
and its shape is regular and continuous, indicatingthat the mechanism has good kinematic
performance.
Thirdly, the statics and dynamics of the hexapod robot Xuangui are analyzed. The
equilibrium equations of forces and moments are obtained by the rod removel method. The
statics simulation shows that the hexapod robot has a large loading capacity. Then, the dynamics
analysis of the hexapod robot Xuangui are carried out to obtain its dynamics equations, and
modal analysis is performed to obtain the first- order to sixth-order modal vibration patterns of
the hexapod robot Xuangui supported by two groups of six legs and each group of three legs,
and the harmonic response of the hexapod robot Xuangui is analyzed on this basis to obtain the
frequency-displacement curve and the sensitivity frequency of the hexapod robot Xuangui are
obtained, which is of guidance for the avoidance of robot resonance and the diagnosis of robot
faults.
Then, the stability analysis and gait planning of the hexapod robot Xuangui are carried out.
The center of gravity projection method is used to analyze the motion stability of the hexapod
robot Xuangui. Considering the stability of the hexapod robot Xuangui and the interference of
the legs, the motion limit parameters of the hexapod robot Xuangui are obtained, including the
maximum moving stride and the maximum zero radius angle of a single rotation in an
intermittent cycle. The space-occupying coefficient, movement order, movement stride and the
variation of rod length of each branch chain of the two groups of legs fixed on the two platforms
of the hexapod robot Xuangui during the movement of the hexapod robot Xuangui are studied.
The foot-end trajectory of the hexapod robot Xuangui is planned by using the non-impact
composite cycloid, which greatly avoids the impact of the hexapod robot Xuangui when the leg
is in contact with the ground.
