A MODEL OF SIX-LEGGED VEHICLE WITH EIGHT DEGREE OF FREEDOM AND KINEMATICS ANALYSIS OF LEG MECHANISM

On the off-road,legged-vehicle are obviously superior to wheeled or tracked vehicle.In this paper,a mod-el of six-legged vehicle with eight degrees of freedom is proposed,which can work on uneven ground as awheeled vehicle on even road.Its body can be keeped horizontally by a simple control device.And its struc-ture is much simpler than that developed in the past.Moreover,a leg mechanism which is suitable for the ve-hicle model is proposed and its kinematics is analyzed.The analytic results show that the leg mehanism has agood property and satisfies the requirement of the legged vehicle completely.