单曲轴六足直立式机器人的设计  

Design of Single Crankshaft Hexapod Parasaggital Robot

作　　者：张久雷[1] 

机构地区：[1]罗定职业技术学院,广东罗定527200

出　　处：《佳木斯大学学报（自然科学版）》2013年第3期386-389,共4页Journal of Jiamusi University：Natural Science Edition

摘　　要：根据三角形步态原理,以铜线为制作原料,采取单电机、单曲轴驱动和曲柄摇杆机构为传动系统的方法,设计开发了一种六足直立式步行机器人.该机器人的中间步行腿直接与曲柄铰接,由曲柄带动中间步行腿进行上下、前后摆动;后腿通过连杆与曲柄连接,同侧前腿通过连杆与后腿连接,实现前腿和后腿的前后摆动.机构设计巧妙、控制简单.行走试验表明,本机器人可以实现行走功能,是可以应用于娱乐、玩具领域的娱乐机器人.Based on the triangle gait principle, with copper wire as raw material, a hexapod parasaggital robot was designed and made. Based upon the single crankshaft and motor driven, its crank link mechanism walking part w able to let the robot move forward. The robot middle walking leg is directly hinged with crank; the crank drives the middle walking leg swing upward, downward, forward and backward. The front and hind legs are hinged by link, while the link mechanism driving makes front and hind legs swing forward and backward, and keep step with each other. The mechanical design is ingenious and the control is simple. The walking test indicates that the robot can achieve triangle gait and walk steadily. It is expected to use in entertainment and toys field.

关 键 词：曲柄连杆机构 六足 机器人 娱乐 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]