双电机驱动的六足直立式步行机器人的设计  

Design of a parasaggital hexapod walking robot driven by dual-motor

作　　者：张久雷[1] 

机构地区：[1]罗定职业技术学院机电工程系,罗定527200

出　　处：《青岛理工大学学报》2014年第2期118-122,共5页Journal of Qingdao University of Technology

摘　　要：采用直立式腿部结构,以双电机为驱动力而设计开发了一种可调头拐弯的六足步行机器人;行走机构采用曲柄连杆机构为传动系统,能够实现前行、后退、左拐、右拐、原地调头或停止等动作.其简单巧妙的机械机构设计、动力传动方案和控制系统,为将来更完善的六足机器人设计、开发、不断拓展和深入研究提供了科学的依据.Based on the parasaggital leg structure driven by dual-motor, a hexapod walking robot is designed and made in the paper. The crank link mechanism walking part of such hexapod walking robot is able to let the robot move forward, backward, turn left, turn right, situ u-turn and stop. The turning function is realized by dual-motor control on two sides. The mechanical design and powertrain program is ingenious and simple in control. It provides a scientific reference value for the future better hexapod robot design, development, expands the apMication and i,^-,~,~,~, L

关 键 词：曲柄连杆机构 六足 机器人 双电机 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]