The kinematics and dynamics simulation of spider robots based on ADAMS

摘要

In the nature, the spider's unique physiological structure and crawling mechanism give it strong adaptability to the rugged irregular terrain. Bionic research on spider is of significance on the development of multiped robots that need to go to some unconventional walking locations. This paper has taken a simple eight-legged spider biomimetic robot as an example. A simulation has been carried out on the movement mechanism that spiders maintain stability with one group of legs and look for optimum supporting point on the ground with another group of legs at the same time. This paper also enumerates and analyzes results that may get by simulation.