一种小型仿人机器人的设计、制作与舞蹈功能的实现  

Design,Production and Realization of a Small-sized Humanoid Dancing Robot

作　　者：罗庆生[1] 夏悦然 李沛达 常健飞 杨健理[2] Luo Qingsheng;XiaYueran;Li Peida;Chang Jianfei;Yang Jianli(Institute of Technology,Beijing 100081,China;Middle School Affiliated to Minzu University of China, Beijing 100081,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]中央民族大学附中,北京100081

出　　处：《计算机测量与控制》2018年第12期238-243,259,共7页Computer Measurement &Control

摘　　要：小型仿人双足机器人是一种机电一体化装置,完成其结构设计、样机制作以及动作编排需要进行系统探索;依托机器人基础知识和专业技术,对该机器人进行了详尽分析,根据仿生学目标进行了机器人自由度分配,且依据研发任务选择了机器人驱动元件,进而使用solidworks软件进行了机器人结构造型设计,并完成了实验样机的结构组装和系统调试;设计了一个机器人"舞蹈"程序,该程序采用分层软件架构方法,设计了驱动层、应用层和执行层,使机器人软件系统的各个部分分工明确,且使机器人在跳舞过程中能够保持各部位的协同运动,同时保证机器人重心稳定,不会摔倒,实现了机器人的"舞蹈"动作;该项工作表明,小型仿人双足机器人的设计方案具有一定的合理性与可行性,对促进青少年掌握机器人技术极有帮助。The small-sized humanoid biped robot is a kind of mechatronics device,which needs systematic exploration to complete its structure design,prototype making and motion planning.This paper,based on robot basic knowledge and professional technology,has carried on the detailed analysis to the robot.Degrees of freedom on the robot was distributed according to bionics target,driving units were selected according to development goal,and the robot structure was designed,assembled and tested using Solid works.Dancing function was designed and programmed adopting hierarchical architecture,which is divided into the driver layer,application layer and execution layer.In such way,the stability of the center of gravity of the robot is guaranteed and each part of the robot can cooperate with each other smoothly to complete a programmed dance.The work of this paper shows that the design scheme of the small-sized humanoid biped robot has certain rationality and feasibility,which is very helpful for the teenagers to master the robot technology.

关 键 词：小型仿人双足机器人 机械结构设计 硬件系统设计 软件功能编排 舞蹈动作实现 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]