一种六足军用机器人行走机构的设计与优化  

Design and Optimization of Hexapod Walking Mechanism for Military Robot

作　　者：单东升 何亚磊 SHAN Dong-sheng;HE Ya-lei(Weapons and Control Department,Army Academy of Armored Forces,Beijing 100072,China)

机构地区：[1]陆军装甲兵学院兵器与控制系,北京100072

出　　处：《装甲兵工程学院学报》2018年第3期72-76,共5页Journal of Academy of Armored Force Engineering

摘　　要：基于契贝谢夫连杆机构建立了一种六足机器人行走机构的模型,并给出了该模型的参数约束方程以及参数优化方案。通过对该行走机构的结构改进,进一步增强了行走机构的强度和运动平稳性。该优化设计方法对足式机器人的工程实践具有参考价值。Based on the Chebyshev linkage,a model of hexapod walking mechanism is established,and the parameter constraint equation and the parameter optimization scheme of the model are given. The improvement of walking mechanism not only enhances the intensity,but also increases the stability of movement. The optimization design method has reference value for the engineering practice of the foot robot.

关 键 词：六足机器人 行走机构 约束方程 优化设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]