Configuration Innovation and Stability Analysis of a Hexapod Load-bearing Mountain Climbing Robot XuanGui

A hexapod mountain climbing robot that can carrying heavy objects based on 2-UPU&2-RPR parallel mechanism, named XuanGui, is presented. 2-UPU&2-RPR redundant parallel mechanism can ensure the horizontal orientation of the platforms during motion through an inline parallelogram configuration. Connecting the upper platform and the loading platform with the revolute pair can enable the robot to have zero radius flexible turning ability. The extended structure of its landing foot-end can have good passing ability in muddy terrain. The gait of the XuanGui robot is designed. The stability of the XuanGui robot is analyzed. The XuanGui robot can be used to carry heavy objects instead of porters in famous mountain scenic areas.