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...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2025-07-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.009 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849319692508856320 |
|---|---|
| author | WANG Jiaju ZHUANG Hongchao ZHANG Zeyu WANG Kai |
| author_facet | WANG Jiaju ZHUANG Hongchao ZHANG Zeyu WANG Kai |
| author_sort | WANG Jiaju |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-44b2affc53784fc4b6f0b6a5452368ad |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2025-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-44b2affc53784fc4b6f0b6a5452368ad2025-08-20T03:50:21ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392025-07-01497077115735475Configuration design and simulation of the six-legged robot with bouncing characteristicsWANG JiajuZHUANG HongchaoZHANG ZeyuWANG KaiObjectiveTo 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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.009Six-legged robotBouncing characteristicsKinematicsGait analysisAdams simulation |
| spellingShingle | WANG Jiaju ZHUANG Hongchao ZHANG Zeyu WANG Kai Configuration design and simulation of the six-legged robot with bouncing characteristics Jixie chuandong Six-legged robot Bouncing characteristics Kinematics Gait analysis Adams simulation |
| title | Configuration design and simulation of the six-legged robot with bouncing characteristics |
| title_full | Configuration design and simulation of the six-legged robot with bouncing characteristics |
| title_fullStr | Configuration design and simulation of the six-legged robot with bouncing characteristics |
| title_full_unstemmed | Configuration design and simulation of the six-legged robot with bouncing characteristics |
| title_short | Configuration design and simulation of the six-legged robot with bouncing characteristics |
| title_sort | configuration design and simulation of the six legged robot with bouncing characteristics |
| topic | Six-legged robot Bouncing characteristics Kinematics Gait analysis Adams simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2025.07.009 |
| work_keys_str_mv | AT wangjiaju configurationdesignandsimulationofthesixleggedrobotwithbouncingcharacteristics AT zhuanghongchao configurationdesignandsimulationofthesixleggedrobotwithbouncingcharacteristics AT zhangzeyu configurationdesignandsimulationofthesixleggedrobotwithbouncingcharacteristics AT wangkai configurationdesignandsimulationofthesixleggedrobotwithbouncingcharacteristics |