عنوان مقاله [English]
In this research work a hexapod robot having 6DOF has been addressed while its feet are driven using fourbar linkage mechanism. Although each foot has only one active DOF for its linkage, the robot overally behaves very similar to hexapod insect, called cockroach, rtather than other hexapod robot with 6 DOF. This is one of the most important advantages of the proposed mechanism here using 4-bar linkage mechanism. This is the new asspect of the mechanism here comparing to some similar work on hexapod robots. In this paper at first, motion analysis of cockroach has been studied, then equivalent robotic system is identified by using 4-bar linkage mechanism for its feet motion, and its kinematics equations and numerical simulations have been addressed. Finally, robot statics stability and dynamics equations are derived and then driving power and dynamics simulations have been studied and addressed.