新型六足爬行机器人设计

作者：金 波1,胡 厦1,俞亚新2 日期：2007-07-09/span> 浏览：3950 查看PDF文档

新型六足爬行机器人设计

金 波1,胡 厦1,俞亚新2

（1.浙江大学 流体传动与控制国家重点实验室,浙江 杭州 310027;
2.浙江理工大学 机械与自动控制学院,浙江 杭州 310018）

摘 要： 采用了仿哺乳类的腿部结构，并针对这种腿部结构设计了六足的行走方式，通过对12个步进电机的控制，采用三角步态，实现了六足机器人的直行功能。仿真及试验证明，这种结构能较好地维持六足机器人自身的平衡，并且对今后更深入地研究六足机器人抬腿行走姿态及可行性，具有较高的参考价值。
关键词：六足机器人；步行；腿机构；电机控制

 Design of novel hexapod walking robot
JIN Bo1, HU Sha1, YU Yaxin2
(1.The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;
2.College of Mechanical Engineering and Automation, Zhejiang SciTech University, Hangzhou 310018, China)

Abstract:A bionic leg structure which is similar to the legs of mammals was used, and a hexapod walking mode was designed according to this structure. By controlling 12 step motors straight walking function of the hexapod robot has been implemented with tripod gait movement. Simulation and experiment show that this structure can keep the hexapod robot bodys balance better, providing high reference value to research the advantage and feasibility of legraising walking gesture.
Key words: hexapod robot; walking; leg structure; driver; motor control