Hexapod robots are gaining attention for their ability to navigate complex terrains, making them suitable for applications such as search and rescue, military operations, and environmental exploration. This paper presents a study of the dynamic modeling and simulation of the R-Hex robotic hexapod, focusing on locomotion performance under challenging conditions. A novel simulation framework was developed in CoppeliaSim, integrating mechanical CAD models and control algorithms to evaluate stability, energy efficiency, and adaptability. Key contributions include (1) an optimized mechanical design of R-Hex using lightweight materials, (2) a simulation-driven evaluation of locomotion across flat, rough, and stair-like terrains, and (3) validation through a preliminary hardware prototype tested in comparable conditions. Unlike existing works such as Zebro Light, this study emphasizes simulation-informed optimization linked directly to experimental validation. The findings provide a foundation for advancing hexapod robotics and demonstrate the robustness of R-Hex as a candidate for future deployment in critical domains.