全地形六足探测器建模与仿真

Modeling and Simulation ofAll Terrain Hexapod DetectorAbstractThe innovative design of hexapod robot is of great significance for multi-terrain driving.In order to design a reliable,new and practical robot car,a new multifunctional robot car withwheels and six-legged motion mechanism is designed on the basis of a six-legged robot.This paper describes the overall process of redesign of the structure of this flexible robot car.Among them,the design of walking,turning and other motion mechanisms has been adjusted.After simplifying the whole three-dimensional model,the whole model is dynamicallysimulated by using Matlab/Simulink,and then the strength of each part is checked by usingthe finite element plug-in of SolidWorks.Subsequently,the derived three-dimensional modelis sliced by using 3D printing software,and the G code is copied to a 3D printer for printingto complete the production of the real object.After assembly and debugging,eachmechanism of the designed trolley can move freely on various terrains and expand somefunctions.Key Words:hexapod robot finite element analysis motion simulationstructural design 3D printing