Research on miniature hexapod bio-robot and its tripod gait

Abstract

Based on the principle of bionics and analysis of the movement mechanism of hexapod, a new type of miniature hexapod bio-robot was developed by using four-bar linkage, screw gearing, belt gear, driven by D.C. micromotor and controlled by PC.The external dimensions of the model machine are 30mm×40mm×20mm and its weight is 6.3 g. The robot's movement gait and the movement stability are analyzed in this paper. The experimental results show the robot has good mobility.