Design and Simulation of Wire Driving System in Leg Mechanism of Hexapod Walking Robot

Considering shortcomings of typical wire driving system in leg mechanism of hexapod walking robot,a new wire driving system,which is simple,small and practical,is designed.And it is used in leg mechanism of hexapod walking robot.Thus,a hexapod walking robot with wire driving system is designed.A virtual prototype is set up by using ADAMS.After the triangle gait is chosen for the robot,motion simulation is carried out.The results shows that the virtual prototype of the walking robot can walk straight and turn in accordance with the given gait.On that basis,the real prototype is made.Through testing,the robot can walk fast and stable,which lay the foundation of further research on hexapod walking robot with wire driving system.