八足蜘蛛仿生机器人的设计与实现  

Design and Implementation of a Robot that is Imitative of Spider with Eight Legs

作　　者：肖勇[1] 王建平[1] 蒋晓魁[1] 李晓峰[1] 刘志刚[1] 

机构地区：[1]中国科学技术大学,合肥230026

出　　处：《机电一体化》2006年第6期79-82,共4页Mechatronics

摘　　要：在自然界中,蜘蛛因其独特的爬行机制可以在垂直的墙壁甚至倒立在天花板上行走。文章介绍了一个运用仿生学原理设计制作的八足蜘蛛仿生机器人系统。基于这种机器人功能和结构的特点,设计出了相应的机械结构、电路及控制程序。目前该机器人已经可以在平地上进行爬行,为进一步研究爬壁机器人提供了一个基础测试平台。In the nature, the spider with its special mechanism of climb can walk on uprightness wall even it can walk stand upside down on the ceiling. This paper introduces a system of a imitative robot of eight legs spider, the design and implementation of whic is using the principle of bionics. Base on the characteristic of structure and funcation of this kind of robot, a system with mechanism, circuit and control according to the characteristic was designed. Now, the robot can walk on the flat floor, and provide a test base to research into robot of climbing on the wall.

关 键 词：机器人 仿生 机构设计 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]