Jixie chuandong (Jan 2018)
Structure Design and Kinematic Simulation of Biomimetic Hexapod Robot based on the ADAMS
Abstract
In order to improve the adaptability and flexibility of the hexapod bionic robot to the working environment,based on the analysis of the physical form of bionic beetle and structural characteristics,taking the beetles as reference,a kind of six-foot symmetrical insect structure robot with good performance and simple structure is designed. The 3 D solid model is generated by using CATIA 3 D modeling software,which is imported into ADAMS to establish the dynamics model of virtual prototype. The gait of the hexapod robot walking on the flat ground and the gait of the fixed-point turning are analyzed. The curve of kinematics and dynamics characteristics are obtained,and the rationality of the structure and the feasibility of the motion are verified. It provides the theoretical basis for the numerical calculation of the robot and the development of the physical prototype,and also creates the conditions for the precise control of the hexapod bionic robot.
