"基于STM32的六足仿生机器人设计与仿真分析"

Based on the document "Design of Hexapod Bionic Robot Based on STM32 - Version 5.0" and the research on Hexapod Robotics, this study focuses on the analysis of the kinematics of a Hexapod Bionic Robot, which is a type of legged robot known for its stable movement in complex terrains. The research aims to develop a thorough understanding of the kinematic equations governing the movement of the robot and analyze the walking foot movement space. Through the utilization of Matlab's Robotics Toolbox and genetic algorithms, the study also plans the movement trajectory of the walking feet. Furthermore, a comprehensive dynamic simulation analysis is conducted in Adams software to validate the structure and movement performance of the robot. Additionally, this study addresses the design of two auxiliary structures for the Hexapod Bionic Robot - anti-skid mechanism and distance measurement. These structures play a crucial role in enhancing the robot's overall functionality and performance. By integrating these auxiliary structures into the robot's design, the study aims to improve the robot's stability, traction, and navigation capabilities. In conclusion, the research presented in this study provides valuable insights into the design and analysis of a Hexapod Bionic Robot based on STM32 technology. Through the detailed kinematic analysis, trajectory planning, and dynamic simulation, the study aims to enhance the understanding of the Hexapod Robot's movement capabilities and performance. Additionally, the design of auxiliary structures further improves the robot's functionality, positioning it as a promising solution for various applications across different industries. Keywords: legged robot; kinematic simulation; auxiliary structural design