Hexabot Robot: Derivation of the dynamics equations

This article discusses a mechanism with six kinematic chains (legs) and 18 degrees of freedom – a hexabot robot. The equations of kinematics and dynamics of a separate leg of a robot with three degrees of freedom are written out. The issue of optimizing the movement of the robot based on the study of dynamic equations is considered. The derivation of the dynamics equation of the leg, compiled on the basis of the Lagrange- equation of the 2nd kind, is presented. It is noted that walking robots have an indisputable advantage over other types of movement on the surface in such tasks as moving along sandy and swampy surfaces, moving off-road and in difficult terrain, moving under water. The use of mechanisms (robots) on a wheeled or caterpillar basis in such conditions seems impossible or ineffective.