Structural design and simulation analysis of hexapod bionic spider robot
                                                  BAI Ying1, JIANG Qingbin1, MO Liping1, SUN Chao2, WANG Song2
(1.College of Electrical Engineering, Changzhou Institute of Mechatronic Technology, Changzhou 213164, China;2.Collegeof Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China)

Abstract: Aiming at the problem of motion planning of hexapod robots, hexapod bionic spider robot was designed. Firstly, the mechanical structure of the hexapod mimic robot was designed by SolidWorks. Then, the positive and inverse kinematics of the single leg of the robot were analyzed by establishing the DH coordinate system of the hexapod bionic spider robot, and the forward and inverse kinematics equation were deduced. Finally, several typical gaits were analyzed, and a polynomial difference fitting method was used to plan the trajectories of the swing phase and the supporting phase of the spiderlike robot. Based on this, the model built in SolidWorks was imported into ADAMS/View, and ADAMS was used for simulating several typical examples. The correctness of its gait planing was verified by simulation.The results indicate that the design of the hexapod bionic spider robot is effective.

Key words: hexapod bionic spider robot; structural design; kinematic analysis; gait planning