全地形六足探测器设计于仿真

Modeling and Simulation ofAll Terrain Hexapod DetectorABSTRACTThe innovative design of hexapod robot is of great significance for multi-terraindriving.In order to design a reliable,new and practical robot car,a newmultifunctional robot car with wheels and six-legged motion mechanism is designedon the basis of a six-legged robot.This paper describes the overall process ofredesign of the structure of this flexible robot car.Among them,the design ofwalking,turning and other motion mechanisms has been adjusted.After simplifyingthe whole three-dimensional model,the whole model is dynamically simulated byusing Matlab/Simulink,and then the strength of each part is checked by using thefinite element plug-in of SolidWorks.Subsequently,the derived three-dimensionalmodel is sliced by using 3D printing software,and the G code is copied to a 3Dprinter for printing to complete the production of the real object.After assembly anddebugging,each mechanism of the designed trolley can move freely on variousterrains and expand some functions.Key words:hexapod robot finite element analysismotion simulationstructural design 3D printing