Payload capability analysis of a new kind of parallel leg hexapod walking robot

Abstract

This paper presents a new kind of walking robot for nuclear plants when nuclear disaster happens. It is designed to finish several tasks such as: turning off the pump in the nuclear; detecting the situations inside the plants and so on. The robot applies parallel mechanism for each leg which is seldom used in walking machines. In this paper, the background is introduced first and then the robot mechanism is analyzed. Then the force calculation is shown and theoretical analysis is presented which proves the leg has very high load-bearing capability. The experiment results are also included and the prototype turned out to be very successful for that it can walk easily with more than 150 kg load.