Different manipulation mode analysis of a radial symmetrical hexapod robot with leg—arm integration

Abstract With the widespread application of legged robot in various fields, demand for a with high locomotion and manipulation ability is increasing. Adding an extra arm useful but general method to obtain ability. Hence, this paper proposes novel hexapod two integrated leg—arm limbs that dexterous functions besides without adding arm. The modes can be divided into coordinated condition single-limb condition. former mainly includes fixed clamping case shearing case. For case, degrees freedom (DOFs) analysis equivalent parallel mechanism by using screw theory constraint equation are established. working space determined, ideal ball presented guide task. In addition, adjacent performed. Then, mobile one limb while pentapod gait discussed as condition, including switching between gait, different gaits analysis, complex six-DOF walking. Corresponding experiments implemented, tasks limbs, task gait. This provides new approach building multifunctional platform.