A Research on Hexapod Walking Bio-robot's Working Space and Flexibility

摘要

Based on the character that the hexapod walking robot is composed by parallel closed loop and series open loop, choosing proportion of the robot's each leg as the cut-in point, this paper analyzes the specific method of hexapod walking bio-robot structure optimizing, works out the robot's feet space using the numerical analysis method calculates the robot's degree of agility utilizing virtual prototyping technique, measures the flexibility of the robot's leg and body fully. Hereby we review the robot's whole working capability, which provides the theory basis on the hexapod walking bio-robot's proper drive and exact control.