Design and Analysis of a Semi-circular Flexible Hexapod Robot MiniRHex

This paper introduces a semi-circular flexible hexapod robot MiniRHex. Following the principle of miniaturization and lightweight, the mechanical structure of MiniRHex is designed. Through the finite element analysis of the robot structure, the strength of the robot's structural design is verified. A gait planning method for six legged robots, which can achieve a variety of gait generating and switching control, is proposed. By taking the leg takeoff and touch movement as a discrete event, it is able to use a set of Max plus algebraic linear equations to describe the sequence of discrete events in different walking gait, and thus carry out gait planning.The combined motion simulation of Matlab and Adams software is used to verify the motion control methods.Finally, the MiniRHex prototype was built, and the Trotting gait and Pronking gait experiments were carried out, and the walking speed of 1.2 m/s is realized.