Configuration design and simulation of the six-legged robot with bouncing characteristics
WANG Jiaju
ZHUANG Hongchao
ZHANG Zeyu
WANG Kai
Abstract：[Objective]To address the issue of poor adaptability to the unstructured terrain in mobile systems,a six-legged robot with bouncing characteristics was proposed,and the overall configuration and individual legs of the robot were structurally designed.[Methods]A comparison was made between the crawling characteristics of multi-legged spiders and caterpillars,and a six-legged evenly distributed leg arrangement was adopted for the robot legs.To achieve jumping functionality,a leg energy storage mechanism was designed.The various parts of the six-legged robot were drawn using SolidWorks three-dimensional drawing software to assemble a virtual prototype.A single-leg motion coordinate system was established,and forward and inverse kinematic analyses were conducted using the D-H method.The motion modes under static and dynamic gaits were discussed,and simulation validation was performed using Adams software.[Results]The results demonstrate that the configuration design and gait planning of the six-legged robot are reasonable,providing reference for further research.
Keywords：Six-legged robotBouncing characteristicsKinematicsGait analysisAdams simulation
Publication Date：2025-07-31
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 70-77,147 )