Optimal Design of Shock Absorption for Hexapod Robot based on Magnetorheological Fluid

Abstract

To achieve the best shock absorption effect of the hexapod robot, the influence of three leg structures on the stability of the hexapod robot under different path environments was studied, and a set of highly implementable solutions was designed. Use SolidWorks to build a hexapod robot model, import it into ADAMS to build a dynamic model and build different path environments, and conduct forward and inverse kinematics analysis at the same time. Using the Simulink plug-in in MATLAB and ADAMS joint kinematics simulation, the spring damping and magnetorheological fluid components are established in Simulink, which are connected in parallel with the model in ADMAS, and the stability of the hexapod robot under three-leg structures in different environments is obtained. According to the results, the optimal shock-absorbing leg structure is obtained.