Analysis of Low Energy Static Posture for Hexapod Bionic Robot

摘要

According to the workload requirements of multilegged robots, the standing posture of hexapod bionic robot based on static analysis is proposed in this paper, which aims to reduce the energy consumption. We chose the picnic insects with low speed as the bionic prototype and build the robot model, Through the statics analysis we get the low energy static posture when the output torque of the robot is smallest. On this basis, a multiobjective optimization method based on energy consumption and space flexibility is proposed. Finally, we design the simulation and prototype test on self-developed hexapod robot, the results show that the standing posture proposed in this paper satisfies the requirements of energy consumption and space flexibility.