Dynamic simulation and design of a simple hexapod robot

摘要

Background/Objectives: For motions in off-road navigation, including sandy or wet natural environments and space explorations legged machines, mimicking anatomy of legged animals are efficient. However, the traditional full-actuated legged robots are heavy with complex actuation and control systems, as for each degree of freedom separate actuator is used. The purpose of this work is to develop a kinematic model using a single-actuator for hexapod legged robot taking advantage of bio-inspiration and mechanism design techniques. Methods/Statistical analysis: A vector analysis method was used for measuring the system kinematics equations. The simulation of the walking process was performed using MATLAB. A real prototype of the system has been fabricated based on the design, which is not bulky due to use of single motor, and does not require complex control and sensor systems. Findings: Simulations showed that the kinematic model along with the hypothesis on the ground interaction describes the locomotion, which can be used where robots with low-speed repositioning are required. Theoretical analysis, virtual prototype simulations, as well as initial experiments with the physical prototype, showed an efficient functionality of the system. Novelty/Applications: The design and kinematic model can be used for developing low-energy environmental robots for remote areas with occasional relocation requirements.