Hexapod Biomimetic Robot Design and Analysis: Inspired by Tiger Beetles

The hexapod biomimetic robot is a robot that simulates the six-legged gait of insects, with high adaptability and flexibility, capable of walking, climbing, and overcoming obstacles in complex environments. The paper focuses on the tiger beetle as the research object, providing a biomimetic foundation for the design of the hexapod biomimetic robot by analyzing the body structure and movement of the tiger beetle. The paper designs the hexapod biomimetic robot's structure according to the application needs and creates a 3D model using SOLIDWORKS software. By analyzing the statics of the hexapod biomimetic robot under triangular gait, with the condition of three legs supporting, the maximum torque values needed for the femur and tibia joints are obtained, and input into ANSYS software to analyze the stress and deformation at the femur and tibia joints. The assembly model of the hexapod biomimetic robot is imported into ADAMS for motion simulation analysis, setting the driving force, contact force, and other parameters. The corresponding motion function is set to drive the hexapod biomimetic robot to walk in a straight line, while measuring the center of mass and various joints of the hexapod biomimetic robot to check whether it meets the requirements of walking in a straight line, which the results do. The paper lays a foundation for the subsequent design of the hexapod biomimetic robot by conducting structural design, ANSYS finite element analysis, and ADAMS motion analysis on the hexapod biomimetic robot.