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A parallel-legged hexapod walking robot is designed based on the 6UPUR branched chain. The inverse velocity kinematics model is derived. The displacement equation of each branched chain is obtained through the leg velocity. Then, the limit working space of the parallel leg is obtained respectively by the boundary search method and the branched chain parameter combination method. Finally, the accuracy of the solution results of the limit working space is verified by the trajectory method.

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Workspace of Parallel-Legged Hexapod Walking Robot

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Xinxing Tang,
  • Shuwei Bai,
  • Huiqiu Mu,
  • Dachuan Fan,
  • Fangyuan Han

摘要

A parallel-legged hexapod walking robot is designed based on the 6UPUR branched chain. The inverse velocity kinematics model is derived. The displacement equation of each branched chain is obtained through the leg velocity. Then, the limit working space of the parallel leg is obtained respectively by the boundary search method and the branched chain parameter combination method. Finally, the accuracy of the solution results of the limit working space is verified by the trajectory method.