Configuration design and simulation of the six-legged robot with bouncing characteristics
ObjectiveTo address the issue of poor adaptability to the unstructured terrain in mobile systems, a six-legged robot with bouncing characteristics was proposed, and the overall configuration and individual legs of the robot were structurally designed.MethodsA comparison was made between the crawling...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2025-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.009 |
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| Summary: | ObjectiveTo address the issue of poor adaptability to the unstructured terrain in mobile systems, a six-legged robot with bouncing characteristics was proposed, and the overall configuration and individual legs of the robot were structurally designed.MethodsA comparison was made between the crawling characteristics of multi-legged spiders and caterpillars, and a six-legged evenly distributed leg arrangement was adopted for the robot legs. To achieve jumping functionality, a leg energy storage mechanism was designed. The various parts of the six-legged robot were drawn using SolidWorks three-dimensional drawing software to assemble a virtual prototype. A single-leg motion coordinate system was established, and forward and inverse kinematic analyses were conducted using the D-H method. The motion modes under static and dynamic gaits were discussed, and simulation validation was performed using Adams software.ResultsThe results demonstrate that the configuration design and gait planning of the six-legged robot are reasonable, providing reference for further research. |
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| ISSN: | 1004-2539 |