Modeling and simulation of spider robot with an eccentric cylindrical cam mechanism

Abstract

Spider robot is an eight legged mechanical vehicle that walks in space. Three or more legs of spider robot can be used for making the robot statically stable. The rest of the legs can be used to reach a new position or to operate a payload. The robot may move even if one or two legs become disabled. The objective of this paper is to model and simulate eight legged walking spider robot. This robot uses an eccentric cylindrical cam mechanism. The specialty of this mechanism is that it uses only two actuators to make the robot walk and even turn. Pro ENGINEER software is used for modeling of the spider robot and ADAMS software is used for simulation of the mechanism.