Motion Simulation of Bionic Hexapod Robot Based on Virtual Prototyping Technology

摘要

Based on the principle of bionic hexapod, a 3D virtual prototype model of the bionic hexapod robot and the contact model between its feet and the ground are established by using MSC. ADAMS mechanical dynamics software to study the motion of the bionic hexapod robot on the horizontal ground. And then, the kinematics analysis of a single leg of the robot is made to realize the overall motion control of the robot. This paper analyzes the gait principle of the bionic hexapod robot and introduces the gait of the robot used. By simulating the straight motion of the robot, the angular velocity and angular acceleration in the legs of the virtual prototype model are obtained. The study is a theoretical foundation for the design of the physical model and motion planning of a bionic hexapod robot.