| Summary: | By observing the movement characteristics of each foot when hexapod crawls in reality, according to this feature, an innovative three segment spatial crankshaft is designed. Connect the three sections of the crankshaft in this space with the front, middle and rear feet in turn. The connecting parts with each foot are designed into different spatial linkage mechanisms. In order to ensure the motion coordination of each foot when crawling, the kinematic parameters of the spatial crankshaft and its connected mechanisms are analyzed. Based on the coordinated motion parameters, the hexapod structure is modeled, and the walking coordination is simulated by Catia. At last, real objects are produced for motion test. Therefore, the feasibility of spatial crankshaft transmission structure is verified.
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