The stability of hexapod robots when climbing obstacles was studied in order to address the issue of its poor balance when walking on rugged terrain. The six legs of the robot were analyzed on the basis of kinematic theory,and a three-dimensional model was established and a floor was added through SolidWorks 2016. The model was then imported to MATLAB 2018b,and the formulas obtained from the kinematic analysis were written into Defined Functions of MATLAB/Simulink. Simulation was performed by controlling the motion of the floor and the six legs. The results showed that the hexapod robot managed to remain level on rough terrain throughout by constantly adjusting the angles of its six legs,which not only verified the effectiveness and feasibility of the previous theoretical theory but also demonstrated the robot’s good adaptability to various terrain and great stability for balance.

针对六足机器人在不平整路面上机身容易发生倾斜的问题,以一种仿蜘蛛身体结构的六足机器人为研究对象,分析六足机器人特技动作.通过对障碍物在机身正上方、正下方、左下方、右下方4种情况的分析,建立六足机器人机身升降、左右倾斜两种运动状态下腿部关节角度的运动学模型,研究腿部结构在不平整路面上的动作.运动学分析表明,调节腿部关节角度能够使六足机器人机身在不平整路面上保持水平.