Modeling and Simulation of Gait Analysis of Hexapod Robot

摘要

In order to solve the key issues such as the improvement of the movement smoothness of the center of mass and the movement coordination of each joint of the legs in the process the movement of the bionic hexapod robot, etc., establish bionic hexapod robot simulation model jointly by observing the movement characteristics and structural characteristics of the hexapod beetle and using three-dimensional modeling software SOLIDWORKS and mechanical system dynamics simulation software ADAMS and build the legs dynamic contact and collision model with the ground through the applied force constraint of ADAMS. Ultimately, form the global dynamics simulation model of the robot. Using the model the triangle gait of bionic hexapod robot is analyze, especially the straight and turning gait, which proves that the movement of robot is stable. The results lay the foundation for the further study and optimization of the bionic hexapod robot.