94 results about "Hexapod" patented technology

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The invention discloses a multi-constraint-based multi-objective optimization design method for a hexapod robot, and aims to solve the problem of task failure possibly caused by driving overload, structural interference or foot end slipping when a foot robot moves and operates in a field environment due to the fact that a real field topographic condition is not considered in a foot robot optimization method. According to the method, the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated by utilizing the terrain trafficability constraint in combination with the to-be-executed terrain conditions, terrain indexes and to-be-optimized geometric parameters of the hexapod robot, and then the optimal body size of the hexapod robot meeting the terrain trafficability constraint is calculated according to the leg size constraint of the hexapod robot; taking the minimum value of the joint peak value stress and the joint peak value power under the leg size constraint as an optimization target, and obtaining the optimal leg size by using a non-dominated sorting algorithm. Therefore, the optimal structure of the hexapod robot is obtained. According to the method, the body size and the leg structure size of the hexapod robot are optimized through terrain adaptability constraints and multiple real physical constraints, and the method belongs to the field of robot design.

The invention discloses a hexapod robot leg and arm multiplexing control method and device based on reinforcement learning, and relates to the field of motion control. The method comprises the following steps: acquiring observation information of a target hexapod robot; inputting the observation information into the control strategy model to obtain an expected joint angle of the target hexapod robot; the control strategy model is obtained by performing strategy updating on a training framework based on a value network by adopting a reinforcement learning method according to a constructed multi-task training environment; the training architecture is determined based on privilege learning of teachers and students; the value network comprises a shared feature layer and a multi-task head which are connected in sequence; the training architecture comprises a state estimation encoder, a topographic information encoder, a privilege information encoder, a historical information encoder and an ontology network; and a PD control method is adopted to determine the joint torque based on the expected joint angle so as to control leg-arm multiplexing of the target hexapod robot. According to the invention, leg and arm multiplexing control of the hexapod robot can be realized.

The invention discloses an intelligent inspection method and system for an all-terrain self-adaptive hydroelectric AI bionic robot, and relates to the technical field of robots, and the method comprises the steps: constructing a terrain stiffness matrix based on a laser radar, an IMU and a foot end force sensor, and driving a bionic joint group to carry out the intelligent switching of a wheel mode, a six-foot gait mode and an adsorption mode; for equipment defect identification, visible light, infrared and laser point cloud data are fused, and crack / corrosion classification is realized by adopting a contrast learning migration model; a dynamic risk grid map is generated in combination with the equipment fault history, the environment corrosion rate and the task emergency degree, the inspection path is optimized through an MOEA / D-TOPSIS algorithm, and multi-target balance of energy consumption and path length is achieved on the premise that the coverage rate is guaranteed; the positioning system integrates Beidou RTK, UWB anchor points and inertial navigation, and combines a dynamic SLAM enhancement technology, so that centimeter-level positioning precision under strong electromagnetic interference and satellite rejection environments is ensured, and an all-weather and all-terrain intelligent inspection solution is provided for hydroelectric facilities.

The invention provides a six-foot type wheel foot metamorphic robot, belongs to the technical field of metamorphic robots, and solves the problems that an existing traditional metamorphic robot is difficult to consider the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces, is difficult to comprehensively acquire surrounding environment information, lacks a flexible camouflage function, and is inconvenient to use. And diversified operation requirements are difficult to meet and the like. Comprising an upper mounting plate, a lower mounting plate, a sensing assembly, a control assembly, walking foot mechanisms and a mobile power source, a hemispherical shell is detachably arranged at the upper end of the upper mounting plate, fragmented spherical shells are detachably arranged on the six walking foot mechanisms, and the sensing assembly, the walking foot mechanisms and the mobile power source are electrically connected with the control assembly. According to the invention, the walking state is switched, the adaptability of complex road conditions and the rapid moving efficiency of flat road surfaces are considered, the external environment information is comprehensively collected in real time, the protection and disguise performance is good, and the overall working efficiency is improved through reasonable structure integration and control cooperation.

The invention provides an agricultural grain seedling planting and patrolling hexapod robot, and relates to the technical field of agricultural equipment. The hexapod robot for grain seedling planting and patrolling comprises two bases located in the middle of the robot, a control panel used for controlling the posture of the robot, six mechanical legs arranged on the peripheries of the bases, a plant protection disc arranged at the front ends of the upper surfaces of the bases and mechanical arms arranged on the rear portions of the upper surfaces of the bases. The six-foot robot for agricultural grain seedling planting and patrol inspection is suitable for planting of gramineous crops and farmland patrol inspection, the six-foot mechanical legs are adopted to replace a traditional crawler chassis, and the six-foot robot can stably and smoothly move in different farmland environments and is high in adaptability. The base is provided with the mechanical arm, grain seedlings can be clamped and accurately inserted into designated positions of a farmland, and efficient and automatic planting is achieved. A monitoring camera is installed above the mechanical arm, 360-degree inspection tour can be conducted by adjusting the posture of the arm, and farmland abnormity can be found in time.

The application relates to a low-energy-consumption hexapod robot based on nonlinear rope geometric constraints and a foot end linearization compensation method thereof, and relates to the field of robot design. In order to solve the problem that the robot leg makes circular arc motion with the hip joint as the center, resulting in transverse displacement of the foot end and affecting the motion precision of the robot, the leg mechanism is arranged on both sides of the fuselage in six pairs and is symmetrically arranged left and right, three leg mechanisms on the same side are sequentially arranged from front to back and are arranged as front legs, middle legs and rear legs, each leg mechanism comprises a thigh, a shank and a foot which are sequentially connected, the thigh is rotatably installed on the fuselage through a hip joint shaft, the thigh and the shank are rotatably connected through a knee joint shaft, and the thigh and the shank form an inverted V shape, and the shank is a telescopic leg; the hip joint driving mechanism can drive the thigh to rotate around the Z axis to control the front and back swing of the thigh; the knee joint driving mechanism can transmit power in the process of the front and back swing of the thigh, convert the rotary motion of the thigh into the extension and contraction motion of the shank, and correct the motion track of the foot end.

1. The name of the design product: six-legged robot. 2. The use of the design product: bionic robot for investigation and exploration. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: Design 1 perspective view 1. 5. Design 1 is designated as the basic design.

The invention discloses a low-power-consumption one-way transmission hexapod robot and a foot end track correction method thereof, and belongs to the field of robot design. The problems that an existing robot is high in energy consumption, heavy in structure, complex in control, high in cost, low in reliability and the like are solved. The hip joint, the thigh, the knee joint, the shank and the foot are connected in sequence, the one-way transmission mechanism is used for controlling the gait of the shank, the thigh is a deformable four-bar mechanism, and the one-way transmission mechanism is connected with the thigh and the hip joint; when the hip joint is driven to rotate in the forward direction, the thigh is driven to deform through transmission cooperation of the one-way transmission mechanism, so that the thigh drives the shank to complete the swing action of lifting and falling. When the hip joint is driven to rotate reversely, the one-way transmission mechanism does not transmit motion at the moment, the thighs do not deform any more, and therefore the feet are always kept in the supporting phase of making contact with the ground and stepping on the ground. The system is mainly used for executing tasks such as complex environment exploration, disaster rescue and planet exploration.

A welding torch has a proximal portion, a distal portion including a contact tip and a diffuser, and a hexapod actuator located between the proximal portion of the welding torch and the distal portion of the welding torch. The hexapod actuator has a moving platform movable with six degrees of freedom and having a central opening through the moving platform. The distal portion of the welding torch is moved by said moving platform in said six degrees of freedom. A wire electrode is fed to the contact tip through the central opening of the moving platform during movement of the distal portion of the welding torch by the moving platform.

The invention provides a six-foot transfer robot based on a planar linkage mechanism, and relates to the technical field of obstacle crossing robots, the six-foot transfer robot comprises an object carrying body, a plurality of foot units are rotatably connected below the object carrying body, the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body, and the plurality of foot units are divided into two groups of symmetrical motion modules. The robot has the beneficial effects that the plurality of foot units are annularly and symmetrically distributed around the gravity center of the object carrying body and are divided into two groups of symmetrical movement modules, and the rotation directions of the three foot units in each group form 120 degrees, so that the gravity center of the robot is uniformly distributed, and the robot can better keep balance in the movement process. And the two groups of foot units are periodically and alternately supported to form a stable movement mode, so that the stable operation of the robot is ensured.

1. Name of the designed product: underwater detection robot (imitating octopus hexapod). 2. Use of the designed product: for detecting underwater equipment and pipelines. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view.

This invention provides a six-legged adsorption robot and its control method for inspecting offshore wind turbine blades. The robot comprises a double-layered body structure and a biomimetic single-leg structure. The double-layered body structure includes an upper and lower body, each equipped with a motion control system and a vacuum adsorption system. The vacuum adsorption system, in conjunction with a three-step gait, achieves alternating adsorption and vacuum breaking. The motion control system coordinates the robot's walking, turning, posture adjustment, and adsorption functions. The biomimetic single-leg structure includes a thigh, a middle leg, and a lower leg, corresponding to the hip, knee, and ankle joints, respectively. Each leg has three rotational degrees of freedom driven by a servo motor. Springs at the upper and lower parts of the lower leg are compressed to provide preload. The lower leg end is connected to a vacuum suction cup via a fisheye bearing, reducing the impact of landing and providing a passive rotational degree of freedom to adapt to stable adsorption on surfaces with varying curvature. This invention features lightweight structure, strong adaptability to surfaces with varying curvature, high control precision, and safety and reliability.

The invention provides a six-way hydraulic crustal stress sensor, which comprises a spherical shell, a crustal stress sensing core body, a clamp spring, a pressure-bearing film and a data line lead-out sealing module, and is characterized in that three upper mounting holes for mounting the crustal stress sensing core body, the clamp spring and the pressure-bearing film are respectively formed in the upper hemisphere of the spherical shell; the lower hemisphere of the spherical shell is respectively provided with three lower mounting holes for mounting a ground stress sensing core body clamp spring and a pressure-bearing film; the axis of the upper mounting hole and the axis of the lower mounting hole both pass through the sphere center of the spherical shell; hydraulic oil is arranged in a cavity between the inner side of the pressure-bearing film and the crustal stress sensing core; and the crustal stress sensing core body is connected with a data line and is led out through the data line lead-out sealing module to transmit data outwards. The six-direction hydraulic ground stress sensor provided by the invention is simple in structure, convenient to operate, accurate in detection and low in cost.

1. The name of the design product: Robot (Intelligent Six-Legged). 2. The use of the design product: The design product is used for remote control intelligent companionship. 3. The design points of the design product: In shape. 4. The picture or photo that best indicates the design points: Front view.

The present invention discloses a leg joint structure of a foot-type robot, comprising a motor assembly, a thigh housing, a connecting rod transmission assembly, a calf and a foot end. The motor assembly drives the calf to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, by introducing a reduction link between the active crank and the thigh connecting rod, the transmission angle between the active crank and the next-stage connecting rod is increased, and the motor can drive the calf to move with a smaller torque; and by designing reduction links of equal length at both ends of the thigh connecting rod, the transmission angles of the active crank and its next-stage connecting rod, and the driven crank and its previous-stage connecting rod during movement are improved; at the same time, two pairs of mutually parallel roller structures are installed on the thigh housing to limit the thigh connecting rod to only linear motion, so that before the active crank and the driven crank reach the dead point position, the leg joint structure provided by the present invention has a larger spatial range of motion compared to leg joints without the introduction of reduction links and roller limits.

The invention relates to the technical field of robot maintenance, and particularly discloses a nuclear power station multi-task fault maintenance detection device based on a six-foot climbing robot. The device comprises a robot body, and a mechanical arm, a six-foot walking mechanism, a laser radar and an electromagnetic adsorption device which are integrated on the robot body. The mechanical arm is installed on the top of the body, the grabbing device at the front end and the visual camera are driven by rotating the base and the swing arm to reach the designated position, and maintenance operation such as checking, grabbing and screwing can be executed. According to the six-foot mechanism, flexible climbing and accurate positioning are achieved through joints driven by multiple sets of steering engines, the foot ends of the six-foot mechanism are designed to be capable of rotating and changing shapes, the six-foot mechanism can be switched between a common foot end mode and a vacuum suction cup mode so as to meet the attachment requirements of surfaces made of different materials, and electric wheels are installed on the two shanks on the front side and the two shanks on the rear side of the robot body so that the robot can be conveniently and rapidly climbed. And rapid movement on a flat road surface can be met. The laser radar at the head is used for environment perception and navigation, the electromagnet at the bottom can be started after reaching a metal working face, the robot is firmly fixed, and a stable platform is provided for fine operation of the mechanical arm. The nuclear power station maintenance platform integrates multiple functions of movement, fixation, observation and operation, can adapt to diversified maintenance tasks in a complex and high-risk environment of a nuclear power station, and effectively improves the safety and efficiency of maintenance operation.

1. Name of the designed product: Hexapod robot. 2. Use of the designed product: Robot used in service industry, manufacturing industry, special operation, etc. 3. Design points of the designed product: In shape. 4. Picture or photo best indicating the design points: Fig. 1.

The invention discloses a wheel-foot mixed type hexapod robot capable of achieving wheel-foot switching. The wheel-foot mixed type hexapod robot comprises a robot body, two foot type legs and four wheel-foot mixed type legs. The two foot-type legs are mounted at the front end and the rear end of the machine body in an external knee-elbow manner; the four wheel-foot mixed legs are distributed and mounted at the left end and the right end of the fuselage in pairs in a full-elbow manner; the foot-type leg part is composed of a thigh assembly and a shank assembly, the machine body is connected with the thigh assembly through a hip joint and a root joint, and the thigh assembly is connected with the shank assembly through a knee joint; the wheel-foot mixed leg part is composed of a foot type leg part and a wheel-foot switching device, the wheel-foot switching device is arranged on the thigh assembly, and the wheel-foot switching device comprises a rotating module and a wheel module; the rotating module is used for changing the position of the wheel module; the wheel module is used for walking. By adopting the specific leg layout structure and the wheel-foot switching device, the robot has high advancing efficiency and stability, meanwhile, the flexibility of the robot is improved, and efficient switching of wheel-foot modes can be achieved.

The invention relates to the field of lunar exploration, and provides a spherical-hexapod variable-configuration lunar surface robot which comprises a mounting base, a battery module is arranged in the center of the upper end face of the mounting base, and a controller is arranged in the area, located on one side of the battery module, of the upper end face of the mounting base; a step-down module, an IMU and a camera module are fixedly arranged on the upper end surface of the mounting base in an area on the other side of the camera module; the upper spherical shell is arranged above the mounting base and fixedly connected with the mounting base, and a skylight is arranged at the position, corresponding to the camera module, of the upper spherical shell; the modular single legs are six in number, the modular single legs are consistent in structure and configuration, and the modular single legs are evenly and fixedly connected to the bottom face of the mounting base in the circumferential direction through embedded parts. The robot has two movement modes, can adapt to different lunar surface topographic conditions, adopts a six-foot mode to crawl and move on a relatively gentle lunar surface, adopts a spherical mode to roll and go downhill on a large-gradient rugged terrain, and avoids the overturning risk when a single wheel type or foot type moving mechanism goes down a steep slope.

The invention provides an obstacle crossing control method and system for a heavy-load six-foot hydraulic robot, and the method comprises the steps: obtaining and processing environment information based on preset sensing equipment, so as to determine the three-dimensional geometric data of an obstacle; determining gait parameters required for obstacle crossing based on the three-dimensional geometric data, the environment information and the robot parameters; a target foothold is determined according to the three-dimensional geometric data and the gait parameters, a foot end refined movement track is determined according to the target foothold and the gait parameters, and the robot is controlled to move according to the movement track; and machine body posture data and foot end feedback data of the robot are collected in real time to determine the stability margin and the machine body pitch angle, the gait parameters are dynamically adjusted according to the stability margin and the machine body pitch angle, and multi-cycle self-adaptive obstacle crossing is completed. The obstacle crossing control method solves the problem that in the prior art, an obstacle crossing control method for the heavy-load six-foot hydraulic robot capable of stably and efficiently coping with obstacle terrains is lacked.

The present application provides a hexapod climbing robot for a transmission line tower, comprising: magnetic attachment foot assemblies, a middle frame assembly, robotic arm magnetic attachment foot assemblies, a robotic arm assembly, and a tool rack assembly. A plurality of magnetic attachment foot assemblies are provided and respectively mounted on upper and lower ends of the middle frame assembly, and the magnetic attachment foot assemblies move independently of each other; the magnetic attachment foot assemblies at the upper end are arranged at 90° relative to each other, and the magnetic attachment foot assemblies at the lower end are also arranged at 90° relative to each other; and the magnetic attachment foot assemblies located on the same side move on a same prismatic pair assembly. In the climbing robot of the present invention, a plurality of magnetic attachment foot assemblies are provided and respectively arranged at 90°, such that the climbing robot has a stronger ability to resist torque when attached onto the angle steel of a tower, enabling a robotic arm to reach an operation area more accurately during operation and perform precise operations; and the climbing robot achieves higher operational reliability and stability, ultimately ensuring the stability and reliability of climbing operations.

The application discloses a low-power-consumption unidirectional transmission hexapod robot and a foot end trajectory correction method thereof, and belongs to the field of robot design. In order to solve the problems of high energy consumption, heavy structure, complex control, high cost and low reliability of the existing robots, the application comprises sequentially connected hip joints, thighs, knee joints, shanks and feet, and a unidirectional transmission mechanism for controlling the gait of the shank. The thigh is a deformable four-link mechanism, and the unidirectional transmission mechanism is connected between the thigh and the hip joint. When the hip joint is driven to rotate forward, the thigh is driven to deform through the transmission cooperation of the unidirectional transmission mechanism, so that the thigh drives the shank to complete the swing action of lifting and falling. When the hip joint is driven to rotate reversely, the unidirectional transmission mechanism does not transmit motion, and the thigh does not deform any more, so that the foot always keeps in contact with the ground and supports the ground. The application is mainly used for executing tasks such as complex environment exploration, disaster rescue and planet exploration.

The utility model relates to a hexapod robot with a function of enhancing top compression resistance. The hexapod robot comprises a hexapod robot body and a pressure-bearing cover, a first spring is arranged between the pressure-bearing cover and the hexapod robot body, the hexapod robot body is provided with a plurality of guide rails, and the plurality of guide rails are uniformly arranged around the center of the hexapod robot body in a radial manner; the upper ends of the transmission rods are hinged to the pressure-bearing cover, and one ends of the guide rails are hinged to the lower ends of the transmission rods; the distance between the upper end of the transmission rod and the center of the hexapod robot body is larger than that between the lower end of the transmission rod and the center of the hexapod robot body. Each guide rail is sleeved with a second spring, and the two ends of each second spring abut against the lower end of the transmission rod and the center of the hexapod robot body correspondingly. The buffering effect of the second spring can be fully exerted, and the protection effect on the hexapod robot body is enhanced; the pressure-bearing cover is of an upwards-arched cambered surface structure, the force unloading effect on foreign matter is better, and the buffering pressure of the first spring and the second spring is relieved.

The invention belongs to the technical field of hexapod robots, and discloses a hexapod robot. The hexapod robot comprises a robot body, four rear feet and two front feet, the four rear feet are the same in structure, and the two rear feet are symmetrically arranged on the two sides of the middle of the robot body; the other two rear feet are symmetrically arranged on the two sides of the rear portion of the machine body. The two front feet are the same in structure and symmetrically arranged on the two sides of the front portion of the robot body, each front foot comprises a first hip joint, a first knee joint, a first ankle joint and a clamping walking assembly which are sequentially arranged, each clamping walking assembly comprises a connecting assembly, a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are connected through a connecting assembly. The first clamping jaw and the second clamping jaw are both connected to the connecting assembly, at least one can rotate up and down relative to the connecting assembly, and the first clamping jaw and the second clamping jaw can get close to each other or get away from each other. According to the invention, the stability during movement can be improved, the integration degree can be improved, the energy consumption and the structural complexity are reduced, and the grabbing capability can be improved.

The utility model discloses an induction tooth and guide tooth cover installation mechanism, including guide tooth cover transmission device, induction tooth transmission device, compression device, base, induction tooth transmission device includes track group, and induction tooth has been installed on the track group, guide tooth cover transmission device is installed below the advancing direction of production line track group, and is fixed on the base, the fixed torque electric wrench in compression device is fixed in the movable side of starting pneumatic slide platform, can be lifted under the action of pneumatic slide platform, and pneumatic slide platform is installed on the base, when track group moves to the installation position, pneumatic slide platform acts, drives fixed torque electric wrench to rise and rotates hexapod and drives guide tooth cover to move to the below induction tooth, and fixed torque electric wrench starts and rotates clockwise, drives the screw rod on guide tooth cover to rotate into induction tooth, locks guide tooth cover, realizes guide tooth cover and induction tooth installation function. The utility model design is ingenious, simple structure, simple operation has certain commonality, can carry out induction tooth installation to different track wheel.

The invention discloses a positioning mapping method and system for a hexapod robot, a storage medium and equipment. The method comprises the steps that two-dimensional point cloud data, three-dimensional point cloud data and real-time attitude data are collected; when it is judged that any attitude angle exceeds a preset stable threshold value, a gait control instruction used for controlling the hexapod robot is generated; an improved Hector-SLAM algorithm is adopted to process the two-dimensional point cloud data to generate a two-dimensional grid map, and an ORB-SLAM3 algorithm fused with YOLOv8 target detection and introduced with a dynamic point grading rejection mechanism is operated to process the three-dimensional point cloud data to generate a three-dimensional point cloud map; performing weighted fusion on the map to obtain a fused environment map; path planning is conducted according to the fusion environment map and the current positioning result, foot end track points are generated through forward and inverse kinematics solution, the hexapod robot is controlled to move, and continuous positioning and mapping are achieved. Through motion control and multi-algorithm fusion, stable and accurate autonomous positioning and mapping of the hexapod robot in a dynamic environment are realized.

The invention provides a single-leg position cooperative control method and system for a heavy-load hydraulic hexapod robot, and the method comprises the steps: S1, obtaining a mapping relation between an input duty ratio signal and the actual speed of an actuator, so as to form a corresponding driving characteristic calibration table; s2, the target position of the hydraulic actuator is obtained through calculation; s3, the actual position of the hydraulic actuator is collected in real time, and the position error between the actual position and the target position is calculated; s4, on the basis of the position error, a closed-loop feedback control quantity is calculated through a PID control algorithm; s5, determining a basic control quantity according to the driving characteristic calibration table, and superposing the basic control quantity with the closed-loop feedback control quantity to generate a corresponding superposed control quantity; s6, performing dead zone compensation on the superposition control quantity; s7, the control signal corrected in the step S6 is output to a proportional valve so as to drive a hydraulic actuator to reach the target position; and S8, the step S2 to the step S7 are continuously repeated, and position control over the single-leg hydraulic actuator is achieved. The control efficiency can be effectively improved.

The invention discloses a design method of a hexapod robot, and belongs to the field of robot design. The problems that an existing robot is unstable, slips or fails in obstacle crossing under complex terrains such as slopes, cross slopes and gullies are solved. Systematic size-terrain constraint analysis is lacked, and the trafficability of the robot under the limit working condition cannot be guaranteed. According to the method, based on the spatial layout of a robot body and supporting legs of the to-be-designed hexapod robot, the geometric dimension parameters of the hexapod robot and the working space of the supporting legs, the analytic constraint relation between the geometric dimension parameters and terrain parameters of the hexapod robot is established according to the walking working conditions of the hexapod robot; and designing geometric dimension parameters of the hexapod robot based on the analysis constraint relation. And it is ensured that the hexapod robot has stable movement trafficability in the complex terrain. According to the hexapod robot designed based on the method, the terrain adaptability to the complex field environment can be remarkably enhanced while the structural strength and the overall stability are maintained.

The invention discloses a passive terrain following multi-connecting-rod robot walking mechanism, and belongs to the technical field of robot walking mechanisms. The passive terrain following multi-connecting-rod robot walking mechanism comprises a shell, a driving mechanism is arranged on the shell, and turning mechanisms are arranged at the two ends of the driving mechanism; a light supplementing lamp is arranged at one end of the shell, a battery is arranged in the shell, a camera is fixedly connected to the end, close to the light supplementing lamp, of the shell, a dustproof cover is fixedly connected to the exterior of the camera, and the turning mechanism comprises a pair of second fixing frames fixedly connected to the two ends in the shell correspondingly; six-rowed rods are connected to the pair of second fixing frames in a penetrating and sliding mode. By using the steering mechanism, the first motor drives the rack to move left and right, the rack drives the steering connecting rod to move, and the steering connecting rod pushes the steering supporting legs to deviate towards one side, so that turning of the hexapod robot is achieved.