六足气动机器人的结构设计与步态规划  

Structural design and gait planning of Hexapod pneumatic robot

作　　者：刘旭锋[1] 崔岩[1] 李威[1] 江德业 Liu Xufeng;Cui Yan;Li Wei;Jiang Deye(College of ocean engineering,Guilin University of Electronic Science and technology,Guilin Guangxi,536000)

机构地区：[1]桂林电子科技大学海洋工程学院,广西桂林536000

出　　处：《电子测试》2020年第13期33-34,共2页Electronic Test

摘　　要：本文设计了一种六足气动机器人,由本体、六条相同的腿部、足部等连接件组成。六条腿部对称呈对称分布与本体两侧。腿部具有柔性关节。通过控制向腿部气橡囊中通入气体的压力及方向的不同,可实现机器人腿部轴向伸缩和弯曲变形。并通过步态规划实现了机器人的前后移动,为气动柔性机器人的研究提供一定的理论基础。In this paper,a six legged pneumatic robot is designed,which is composed of body,six identical legs,feet and other connectors.The six legs are symmetrically distributed on both sides of the body.The legs have flexible joints.By controlling the different pressure and direction of the gas flowing into the leg gas capsule,the axial expansion and bending deformation of the leg of the robot can be realized.The forward and backward movement of the robot is realized by gait planning,which provides a theoretical basis for the research of pneumatic flexible robot.

关 键 词：气动机器人 柔性关节 结构设计 步态规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]