Abstract：The 8-legged walking reptile model was designed with laminated IPMC as sheet-form leg asymmetrically distributing on the two sides. The power driver was achieved by inputting voltage wave. Using rigid-flexible hybrid technology, the touch-model of flexible sheet-form leg and rigid ground was determined. The reasonable walking gait was designed so as to get the driving power to make the reptile moving forward continuously. The entire analysis was carried out completely by finite element analysis software ANSYS and ADAMS. Geometric model and up to 32-order mode was obtained in ANSYS, while the movement analysis of the 8-legged walking reptile was performed in ADAMS. Parameter study found that the smaller power-driven and high drive frequency can not only make the walking reptile maintain a certain speed, but also increase its loading capacity and keep its stability quite well.
2013, Vol. 34 
