The virtual prototype design and simulation of crab walking gaits inspired crawling and barrier-crossing parallel mechanism

In recent years, biomimetic robotics has emerged as a promising field that draws inspiration from nature to develop innovative and efficient robots. In this study, we have designed a biorobot capable of crawling and barrier-crossing, inspired by the walking gaits of crabs. Firstly, we analyzed the motion of an individual crab leg to determine the required degrees of freedom for crawling and barrier-crossing. Then, we utilize the screw theory to synthesize the mechanism of a single branch. Finally, we select a suitable parallel mechanism configuration for this research. Simulation analysis is conducted to test the variations in actuation at different driving points under various pose states. We observe stability in changes in driving points with respect to the retraction angle of the leg, indicating excellent obstacle overcoming capabilities possessed by this robot.