Structure Design And Dynamic Analysis Of On A New Kind Of Hexapod Bio-robot

Legged-robot is investigated more and more as a replacement of wheel or track mobile mechanism for its superiority of traversing unstructured terrain .Hexapod deserve deep research for which is the lest legged robot that have static balance. Now, Hexapod's leg usually mimic the animal's leg, so there are much freedom to achieve larger work space or more agile. The focus of this desertion is the locomotion ability of robot and the goal is to design a robot which has the locomotion ability with less freedom.This desertion first described the concept and history of multi-legged robots. The whole structure and locomotion gait of a bio-robot with less freedom and motivation and required locomotion ability. Through the research on legged robot's leg mechanism, a six-linked mechanism which has the appropriate trail was given. Two methods are used to analyze the kinematics of the six-linked mechanism. Because the twist theory has clear geometry meaning, it was used to analyze the special situation of the six-linked mechanism. Based on these work, a method of kinematics of the hexapod is presented .Then dynamic simulation and analysis was processed with ADAMS and DynaMechs, which adopt New-Lagrange algorithm and AB recursive algorithm. The results of the software are compared. Finally, the robot was constructed to invest these works.