Abstract: To reasonably select the drive devices and actuating devices for the joints of an electrically driven heavy-duty six-legged robot, a method for quickly obtaining the accurate articulated rotating speed is presented. Through rotating one of the joints to achieve the maximum speed index of the robot, the mathematical relationship is established between that joint and the maximum speed index of the robot. The rotating speeds of the hip joint and knee joint are researched when their rotating angles respectively have the minimum and maximum values under the crab-type tripod gait, and the rotating speed of the abductor joint is analyzed under the ant-type tripod gait. With the changes in the joint angles for the hip joint and knee joint, variable tendency charts are obtained for the rotating angle and rotating speed of the abductor joint. According to ADAMS software, the single leg, and prototype of the robot, the simulation verification and experimental analysis are respectively carried out for the articulated rotating speeds. The speed curve and pulse curves are acquired for the gravity center of the bearing platform and servomotors of the joints, respectively. The results of the simulation and experiment show that the method for analyzing the articulated rotating speeds of the robot is reasonable and valid. The proposed method can be reliably applied in developing the heavy-duty multi-legged robots.

Key words: ADAMS simulation, Articulated rotating speed, Heavy-duty six-legged robot, Rotating angle