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.