Design Analysis of Wheel-Foot Conversion Bionic Spider Robot

This paper proposes a new design scheme for the bionic spider robot. The mechanical structure design, kinematic analysis, control system architecture and motion mode switching algorithm of robots. The feasibility and superiority of the design scheme are verified by simulation and physical prototype test. The results show that the robot showed good motion performance and environmental adaptability under different terrain conditions, which provides a new idea for the design of mobile robots for multi-scenario applications.