Wall-climbing hexapod robot as a bionic robot has become a focus for extensive research, due to a wide range of practical applications. The most contribution of this paper is to analyze the kinematics and stability of a wall-climbing hexapod robot, so as to provide a theoretical basis for the stable walking and control of the robot on the wall. Firstly, the kinematics model of the wall-climbing hexapod robot is established based on the D-H method. Then, in order to keep the robot from tipping over, the stability of the wall-climbing hexapod robot is analyzed in depth, obtaining the critical condition which makes the robot to tip over. Afterward, the kinematics simulation of the wall-climbing hexapod robot is operated to analyze motion performances. Finally, the experiments are used to validate the proposed kinematics model and stability. The experimental results show that the kinematics model and stability condition of the wall-climbing hexapod robot are correct.

中文翻译：

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仿生壁爬式六足机器人的运动学和稳定性研究。

由于广泛的实际应用，作为仿生机器人的攀爬六足机器人已经成为广泛研究的焦点。本文的最大贡献是分析了攀爬六足机器人的运动学和稳定性，从而为机器人在墙壁上的稳定行走和控制提供了理论依据。首先，基于DH法建立了六足机器人的运动学模型。然后，为了防止机器人倾翻，深入分析了六足机器人的稳定性，获得了使机器人倾翻的临界条件。然后，对攀爬六足机器人进行运动学仿真以分析运动性能。最后，通过实验验证了所提出的运动学模型和稳定性。