Simulation Study of a Spider-Like Robot Based on Leg Reorganization

摘要

This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware.