Design and Simulation of a Hexapod Robot with Dual Robotic Arms

This paper presents a design of a bionic hexapod robot with dual robotic arms and describes in detail its main structural features and functions. Motion simulation of the hexapod robot’s triangular gait, stair climbing, and blocks stacking based on Adams and MATLAB was carried out to demonstrate the feasibility of the design solution. For the interference problem when two robotic arms work together, this thesis designs an interference detection scheme based on an inclusion method. The results demonstrate the theoretical feasibility of the hexapod robot for mobility in difficult road conditions and the underlying theory for the implementation of dual robotic arms for collaborative work. This design is important for the development of robots that handle complex tasks in difficult scenarios.