Title: Mechanical amelioration to improve hexapod robot speed

Authors: Long Gao; Jianping Yin; En Zhu; Tianhang Liu; Wei Chen; Minghui Qiu

Addresses: Computer School, National University of Defence and Technology, Changsha, China ' Computer School, National University of Defence and Technology, Changsha, China ' Computer School, National University of Defence and Technology, Changsha, China ' Computer School, National University of Defence and Technology, Changsha, China ' Computer School, National University of Defence and Technology, Changsha, China ' Medical Informatics Institute, Chinese PLA General Hospital, Beijing, China

Abstract: This paper describes the design and simulation of crab-like hexapod robot. Mechanical amelioration and new lateral walking gait were designed to improve the speed and obstacle crossing ability of the robot. The legs of robot were designed with variable length claws which were constructed to study the influence of leg length on robot performance. Through simulating feasibility checking processes, the length of legs were optimised. We accomplished a prototype according to the simulation and analysis, and measured its performance. The test results proved that crab-like robot performs better than straight walk robot in the speed and the obstacle climbing ability.

Keywords: hexapod; crab-like robot; simulation; prototype; lateral walking gait; mechanical ability; speed.

DOI: 10.1504/IJES.2018.091783

International Journal of Embedded Systems, 2018 Vol.10 No.3, pp.217 - 224

Received: 11 Aug 2016
Accepted: 24 Nov 2016
Published online: 16 May 2018 *

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