Modelling and Application of the Hydraulic Spider Leg Mechanism

Abstract

The model-based simulations of the spider hydraulic mechanism allow reaching a new knowledge about kinematic and dynamic behaviours of the spiders. According to the moving principles of the spider leg, technical compliant structures with coherent joint can be developed and performed. Because of the elasticity of such structures they need only one actuator, which can be either hydraulic, like a spider leg, or pneumatic. The elasticity assumes a role of muscles and moves the structure in the beginning shape. These technical compliant structures have several advantages. For example, it can be a monolithic structure (i.e. consist of only one part) and therefore predestined for miniaturisation. Compliant mechanisms feature less friction and accordingly they require low maintenance and also they can perform a complicated trajectory. Such mechanisms can be used as gripper finger, robot arms, legs of walking robots and as a sonde in medical technology.