In recent years, legged robots have received more attention than ever before because they can perform different tasks in difficult and dangerous environments on various missions. Six-legged robots are more stable than biped and quadroped due to their greater degrees of freedom. Unlike biped and quadroped, where dynamic steps are more important for robot movement, hexapod robots often use static gaits to move. Designing the robotʹs path requires extracting the robotʹs kinematic equations. From different types of hexaped models, a model with a rectangular body has been designed in inventor software. To continue research model has been inserted in Simmechanic-MATLAB. in order to validate the kinematic equations and with the help of the designed model, the parameters of Denvit-Hartenberg are completed and the kinematic formulas are validated. The workspace of a robot leg is examined and then drawn in matlab. By examining all of these workspaces around the robot body, some of the constraint for gait-planning found out. Other gait-planning limitations include the single boundaries of each of the robotʹs legs, which are also extracted and avoided in the robotʹs gait designation. Hexapod robot motion design is more complex than series- and other parallel robots, and for this purpose, direct motion design is performed for tetrapod, wave gait, and tripod rotational motion sequences. Due to the vector relations of local and global coordinates formulated in the kinematic chapter, gait-planning was designed. The Newton and Lagrange dynamics of the six-legged robot were formulated for further research on energy consumption. Since the number of unknowns of dynamic equations is more than the known relevant, it is necessary to estimate the force of each leg. Using Lagrange method, the effect of different gait-planning parameters on energy consumption and average power consumption has been investigated. The minimum torques of the members were estimated using two methods. The amount of torques in the second method is slightly higher than the first method. Dynamic equations and force estimation are validated. The effect of gait-planning parameters can be investigated using the leg force and torque force distribution estimation method. The graph effects of these variables on energy consumption and average power consumption was obtained. Robotic dynamic parameters such as inertia, masses and the location of center of mass are obtained using a model designed in Inventor software. Due to the unevenness of the surface and the end-effector legs slippage, a fuzzy controller is needed to be able to move the robot in cartesian space. The bumps and slips cause disturbance at the end-effectors of robot interfere with the robotʹs movement. In addition to these disturbances, changing the type of gait-planning is also the task of the fuzzy controller. The output results of this simulation are given. Eventually, the controller was able to properly control the robot, even though the robot did not have a camera and could not image process the surface. All the results have been reviewed in the simmechanic, which is a suitable software to eva‎luate the performance of the fuzzy controller in real conditions. Due to the excessive complexity of the mechanical model of the 6-legged robot and the slippage of robotʹs legs and also the impact of robotʹs legs with the uneven surface, the effect of these parameters can not be accurately investigated. Simulated model in simmechanic has shown all these effects as a real robot. Under six challenging scenarios, the robot controller was able to reach to the desired point.

مصطفي غيور

سعيد بهبهاني

محمد دانش، حسن موسوي