中南大学学报（自然科学版）2025，Vol.56Issue(2)：545-559,15.DOI:10.11817/j.issn.1672-7207.2025.02.012
腿臂融合六足机器人仿生设计及分析
Bionic design and analysis of a novel hexapod robot with leg-arm integration
摘要
Abstract
A novel bionic hexapod robot with leg-arm integration was designed.Firstly,two body configurations were compared in terms of step length,gait types and turning flexibility,and then the optimal robot body configuration in this study was determined.After that,the different limbs of this robot were designed by utilizing bionics.For leg branches,the optimal angle ranges of joints,the length of the hip segment and the length ratio of thigh and shank segment were determined according to the bionic principle.The locomotion and bearing capacity of the insect-like configuration and mammal-like configurations of hexapod robot were evaluated from the aspects of working space,velocity ellipse and force ellipse.For the leg-arm branches,by using the leg-arm integration mechanism and referring to the joint layout of the human arm,a novel limb with five degrees of freedom was designed.Flexible switching between leg-arm functions was realizable in this limb.On this basis,two kinds of limbs were distributed on the circular body to form the overall configuration of the hexapod robot.Finally,the whole system of the robot was designed.Moreover,the walking and manipulation functions of the robot were verified by experiments with the developed physical prototype.The results show that this bionic robot demonstrates an optimal leg branch topology compared to conventional hexapod robots.It can adapt insect-like or mammal-like configurations depending on task requirements.Featuring the human-like integrated leg-arm branches,this robot achieves not only fundamental walking functions but also manipulation capabilities,allowing flexible switching between these two modes.关键词
腿臂融合/六足机器人/仿生设计/步态规划/单腿臂操作Key words
leg-arm integration/hexapod robot/bionic design/gait planning/single leg-arm manipulation分类
信息技术与安全科学引用本文复制引用
郑羿,饶思贤,高佳篷..腿臂融合六足机器人仿生设计及分析[J].中南大学学报（自然科学版）,2025,56(2):545-559,15.基金项目
安徽省教育厅高等学校科学研究项目(2023AH051118) （2023AH051118）
特种重载机器人安徽省重点实验室开放基金资助项目(TZJQR012-2024,TZJQR008-2024)(Project(2023AH051118)supported by the University Research Program Project of Anhui Province （TZJQR012-2024,TZJQR008-2024）
Projects(TZJQR012-2024,TZJQR008-2024)supported by the Open Project of Anhui Province Key Laboratory of Special and Heavy Load Robot) （TZJQR012-2024,TZJQR008-2024）
