The Master's thesis is dedicated to solving the relevant scientific and practical task of improving the efficiency, stability, and energy efficiency of a mobile six-legged robot locomotion through comprehensive 3D modeling and algorithmic optimization.
The object of the study is the process of 3D modeling of a hexapod robot to investigate and improve its characteristics. The subject of the study is the methods and tools of 3D modeling, motion control algorithms, and methods for their optimization in virtual environments.
The thesis analyzes modern design solutions and locomotion algorithms for multi-legged platforms. The expediency of using the SolidWorks environment for the parametric design of the mechanical part and the Webots simulator for modeling physical processes and control code is substantiated.
A detailed 3D model of the hexapod has been developed, and a kinematic analysis along with a calculation of servo drive loads has been performed, confirming the functionality of the chosen design. A hierarchical control system has been implemented in Python, allowing for the execution of various gait patterns.
A distinctive feature of the work is the application of genetic algorithms for the automated optimization of limb trajectory parameters. This allowed for finding optimal settings that ensure a balance between locomotion speed and energy consumption.
The practical part of the thesis also includes the development of a startup project proposing a commercialization strategy for the hexapod as an affordable educational and research platform with open architecture.
Research advisor: O. Bezvesilna
