Design of paddy bionic hexapod self-propelled platform

Abstract In order to realize the unmanned operation of spraying and material transportation in small-scale paddy fields, a hexapod self-propelled platform adapted to the paddy field environment was designed. It was mainly composed of a platform body and swinging leg. The leg swing structure was a three-degree-of-freedom mechanism with the steering gear as the original motive part. The leg support vibration reduction device was designed to adapt to the complex paddy field environment. The degree of freedom of the swing leg was calculated, and the coordinate system was established for kinematic analysis. The reliability of mechanical structure was verified by finite element analysis of key components. The kinematics simulation analysis of the two gait modes was carried out based on ADAMS. The relation curve of time and displacement and the translation kinetic energy diagram of the mechanism motion were obtained, and the motion mode was determined to be the three-legged gait in line. The software and hardware of the control system were designed based on the STM32 microcontroller, and the gait program of three legs was written. The prototype was trial-produced and tested, and the experiment results showed that the leg movement of the prototype was normal, and the straight-line walking speed was 30mm√s −1 . The bionic hexapod self-propelled platform can provide a reference for the design of walking equipment in small-scale paddy field environments.