Abstract
According to the modular parallel mechanism and characteristics of a hexapod robot with single drive and tripod gait, we set up a dynamics model and study the relationship between the crank shaft angle and drive torque, which is based on the motion theory of modular parallel mechanism, Lagrange theorem, motion equations, etc. After that, a virtual prototyping model of robot is established based on ADAMS simulation software. The rationality of the analytical method is validated, which provides important theory insight for the control system of robot movement.
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