The Stability Analysis of New Design of Insect Bio Inspired Eight-Legged Robot

Many types of mobile robots or mechanisms have been createdso far and multi-legged robot locomotion is a novel area ofresearches. In this study a new design of insect bio inspiredrobot has been proposed. The main focus of this research isanalysis of kinematics and dynamic simulation of an eightleggedrobot based on the virtual prototype technology. To runa walking machine on any terrain, analysis of gait is needed.The basic design has been done by CATIA software based onthe biological model of Arthropods. Modeling and simulationof eight-legged robot are carried out with CATIA DMUkinematic and ADAMS Multi body Dynamic solver.Displacement of center of gravity of robot s trunk body duringperiodic gait was analyzed. The finding of this research leadsto more stable robot even in inclined plane.

کلیدواژه ها:

Bio Inspires Legged Robot ، Arthropods ، Simulation ، Dynamic Modeling ، Tripod Gait