Design and Simulation of Special Hexapod Robot with Vertical Climbing Ability

Abstract

This paper presented an novel design of hexapod robot, given out the mechanical structure of the hexapod robot and the design of the legs in detail, and then performed step climbing and steep slopes climbing experiment on the MATLAB and VREP simulation platform. Several simulation experiments was performed to verify the proposed design. The experimental results show that the robot has the possibility to climb vertical walls, which has important theoretical and practical significance for further improvement and research on the hexapod robot climbing vertical walls in the future. At last, there is no doubt that this hexapod robot can be equipped with some special detectors to achieve some difficult tasks.