Structural design and obstacle-crossing performance analysis of hexapod reconnaissance robots
XU Haoyang
CAO Le
ZHANG Sihe
Abstract：[Objective]In order to improve the passing ability and stability of unmanned reconnaissance robots in complex terrain environments,a six-legged reconnaissance machine motion platform suitable for unstructured environments was designed.[Methods]In view of the high load-bearing and high flexibility requirements of the robot,a collaborative design method of flexibility and passing ability was proposed.Combined with the cockroach leg configuration,the low-inertia single-leg structure was optimized and analyzed by deriving the forward-inverse kinematics equation and using the Monte Carlo method,the robot workspace was analyzed,and the leg mechanism parameters were determined.Then,Ansys Workbench was used to perform static analysis on key components to verify the reliability of the structural design.Finally,Matlab and Adams software were used to conduct kinematic simulation of the robot's obstacle-crossing process,and the engineering prototype test was designed and completed.[Results]Test results show that the hexapod robot can achieve high-stability movement in complex unstructured terrain,laying the foundation for further research on motion control of robots in complex terrains.
Keywords：Unmanned reconnaissance robotUnstructured terrainHigh throughput capacityStatic analysisKinematic simulation
Publication Date：2025-04-30
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：7( 87-92,155 )