Kinematics Simulation of Biomimetic Hexapod Robot Based on ADAMS

摘要

In order to study the motion of the biomimetic hexapod robot,according to the structure and motion characteristics of the six-legged beetle,the simulated model of the biomimetic hexapod robot was built by three-dimensional modeling software SOLIDWORKS.The straight walking and turning behavior of the biomimetic hexapod robot were simulated using mechanical system dynamic simulation software ADAMS.The displacement of robot's center of mass,torques of joints and other parameters were analyzed in different motion forms.The simulation study indicates that the structure design and motion planning are reasonable and also there are some problems in the design.The study provides some references for the design of the biomimetic hexapod robot prototypes.