Design method for a hexapod curling robot with multiple tasks, multiple mechanism topologies, and multiple functions capabilities.

Abstract While current curling robots can perform the function of throwing the curling stone, their method of throwing differs significantly from that of human athletes. To better integrate robots into the sport of curling alongside athletes, they need to adopt a throwing technique similar to that of curlers. Consequently, the development of curling robots is confronted with the design challenges of multiple tasks, multiple mechanism topologies, and multiple functions capabilities. This paper proposes a four-step design method for legged robots to address this issue. First, the design requirements for the robot are determined by analyzing the curling stone throwing. Second, the robot's mechanism topology is established based on its functional needs. Then, the robot's configuration design is conducted based on the design requirements and mechanism topologies. Finally, the curling stone throwing for the robot is planned through task chains and behavior chains. Using this method, the design of a hexapod curling robot has been completed, and the robot's curling stone throwing function has been realized. The design method presented in this paper is also applicable to the development of other task-oriented legged robots, contributing to the advancement of legged robot applications.