Robot dimension design based on staircase-climbing is essential but seldom studied for legged robots. Incorporating the staircase-climbing in design is novel and relevant. The robot dimension, including the leg dimension and the body dimension, affects the staircase-climbing capability. This paper studies the dimension design for a novel hexapod robot. In dimension design for the leg mechanisms, the critical problem is to handle the interferences between the leg mechanism and staircase. Firstly, all interferences in climbing a staircase are classified into three cases. The corresponding three conditions to avoid the three interference cases are originally proposed. Secondly, the dimension of a single leg mechanism is derived analytically according to the staircase size under the premise of avoiding the three interference cases. The robot body coordinates the leg mechanisms and affects the ability to adjust the tilting angle in climbing a staircase. The body dimension is derived analytically with the constraints of leg workspace, leg-staircase interferences, and the static stability margin. The design example of a hexapod robot climbing 35-degree and 45-degree staircases is given and verified by simulations and experiments.

基于爬楼梯的机器人尺寸设计是必不可少的，但很少对腿式机器人进行研究。在设计中加入爬楼梯是新颖而相关的。机器人尺寸，包括腿尺寸和身体尺寸，影响爬楼梯能力。本文研究了一种新型六足机器人的尺寸设计。在支腿机构的尺寸设计中，关键问题是处理支腿机构与楼梯之间的干涉。首先，所有爬楼梯的干扰分为三种情况。最初提出了避免三种干扰情况的相应三个条件。其次，在避免三种干涉情况的前提下，根据楼梯尺寸解析推导出单支腿机构的尺寸。机器人身体协调腿部机构并影响爬楼梯时调整倾斜角度的能力。车身尺寸是在腿部工作空间、腿部-楼梯干涉和静态稳定裕度的约束下分析得出的。给出了六足机器人爬35度和45度楼梯的设计实例，并通过仿真和实验验证。