Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical\napplications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod\nrobot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the\nkinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the\nrobot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical\ncondition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is\noperated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and\nstability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod\nrobot are correct.
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