Design and analysis of a novel octopod platform with spatial 8R reconfigurable trunk

This study proposes an octopod platform with a reconfigurable trunk to enhance walking patterns and terrain adaptability in closed-chain-legged systems. An 8R reconfigurable mechanism generates various gaits, classified into wide and narrow categories based on platform width. These include straight-line walking, zero-radius turning, pitching climbing, and folding rolling gaits, totaling eight configurations. Posture control and width switching are achieved through gait changes. Kinematic models analyze motion singularities and motion strategies are established. A probabilistic model evaluates obstacle climbing proficiency. Dynamic simulations and prototype validation assess walking speed, climbing, and mobility in pipeline terrains. Platform stability on slopes is quantitatively analyzed, as are capabilities within pipeline environments. The study confirms that a reconfigurable trunk improves adaptability to various gaits and terrains in closed-chain-legged platforms.