仿生甲虫六足机器人结构设计与步态分析  

Structural design and gait analysis of hexapod bionic robot

作　　者：姜树海[1] 孙培[1] 唐晶晶[1] 陈波[1] 

机构地区：[1]南京林业大学智能控制与机器人技术研究所,江苏南京210037

出　　处：《南京林业大学学报（自然科学版）》2012年第6期115-120,共6页Journal of Nanjing Forestry University：Natural Sciences Edition

基　　金：江苏高校优势学科建设工程资助项目(PAPD);南京林业大学引进高层次归国人员及高层次人才基金项目(G2003-01);江苏省研究生科研创新计划项目(CX09S-012Z)

摘　　要：在分析仿生甲虫生物原型的特点及运动机能的基础上,进行了仿生甲虫六足机器人的结构设计与样机设计,运用机器人的结构仿生和功能仿生原理,基于甲虫原型设计了六足机器人,给出了每足3自由度的机器人结构。原型样机是以身体纵向中心线为对称的八边形设计,6条腿均布身体两侧,所有腿关节均由伺服电机驱动,关节间连接构件采用性能良好的合成塑料代替金属构件,设计从结构上保证了仿生机器人能够有效地模拟甲虫的运动能力。通过对仿生甲虫机器人三足运动步态,特别是直线行走步态和定点转弯步态的分析,给出了直行和转弯动作时6条腿的末端位置矢量表达式,利用SOLIDWORKS和ADAMS软件进行了机器人运动仿真,结果证明仿生甲虫机器人运动平稳,满足设计要求。On the basis of analyzing the prototype characteristics of the bionic beetle biological and motor function,we have carried out a research on bionic hexapod beetle robot and designed the biological prototype of the bionic hexapod beetle robot.This paper briefly introduced the characteristics of the biological prototype of the bionic hexapod beetle robot and its motor function.Based on this,structural design and prototype of the hexapod bio-robot are designed.By using the structural and functional bionic principles,the prototype was designed based on the beetle,which has six legs,and each leg has 3 degrees of freedom.When designing the robot mechanical structure,an axial symmetry of the octagonal design is used in the design of hexapod bionic robot body,and its 6 legs are evenly distributed on both sides.All joints are driven by servo motors.The components,which are used to connect joints,are the synthetic plastic that has good performance instead of mental constructional elements.It ensures the robot can imitate the way of walking insects effectively.The three-legged gait of bionic beetle robot is discussed and a detailed analysis of straight line walking gait and turning point gait is shown in this paper.The end position vector expressions of the six legs of the robot during straight walking and turning are given.SOLIDWORKS and ADAMS are used on the robot motion simulation,the results show that robot moves smoothly and meet the design requirements.

关 键 词：仿生甲虫 六足机器人 结构设计 步态 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]