黏土环境下六足机器人抬腿阻滞力学模型研究

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中图分类号：TP242DOI：10.3969/j.issn.1004-132X.2025.09.011

Study on Mechanics Model of Leg Lift Retardation for Hexapod Robot in Clay Environment

ZHANG Haoxi1JIANG JielJIANG Gang² LI Yue1HAO Xing'an1 1.School of Mechanical and Electrical Engineering，Chengdu University of Technology，Chengdu， 2.College of Environment and Civil Engineering，Chengdu University of Technology，Chengdu，

Abstract：Hexapod robots often sinked and got stuck when walking in clay environment，which had a negative impact on the walking stability and energy consumption. The adhesion and shear resistance proper ties of clay were considered. A mechanics model of leg lifting block for a hexapod robot during foot sinking was established. The correlation between foot subsidence and leg lifting resistance was revealed，and the foot-ground mechanics experimental platform was designed and constructed. Based on this platform，footground mechanics experiments were conducted on hexapod robots under three gaits. Data on sinking and blocking forces were obtained.The accuracy of the mechanics model was verified by comparing with the calculated results of theoretical model. Finally，EDEM software was used to simulate the clay environment and perform foot-ground contact simulations. The variation law of the internal mechanics behavior of clay was revealed.The comparisons of the results from simulation，mechanics model prediction and experiments show that the data change trends are basically the same.

Key words： hexapod robot； clay environment； foot-ground contact mechanics model； foot-groundmechanics experiment

0 引言

六足机器人具有卓越的机动性和灵活性，在野外非结构化路况环境中执行任务时具有明显优势[]。（剩余10259字）