Mechanism topology design for novel parallel-parallel hexapod robot

The Octopus is a hexapod robot designed for research on emergency rescue missions in nuclear plants. The robot focused on load-bearing capability and adaptability in different unknown radiation scenarios. Compared with other legged robots, the main difference is that the robot applied 3 degree of freedom (DOF) parallel mechanism which improves the payload capability significantly. In this paper, first the background and the robot system is introduced. Then mechanism topology design methodology is mainly discussed. In our design process, the GF set theory is used which design the limb type from the end-effector requirements. Finally the relative experiments are briefly shown.