六足机器人步态仿真与实验研究  

Gait Simulation and Experimental Study of Hexapod Robot Based on Virtual Prototyping Technology

作　　者：乔栋 姚涛[2] 王玉龙 谢亚龙 QIAO Dong;YAO Tao;WANG Yulong;XIE Yalong(College of Architecture and Geomatics Engineering, Shanxi Datong University, Datong Shanxi 037009,China;College of Mechanical Engineering, Hebei University of Technology, Tianjin 300401,China;College of Coal Engineering, Shanxi Datong University, Datong Shanxi 037009, China)

机构地区：[1]山西大同大学建筑与测绘工程学院,山西大同037009 [2]河北工业大学机械工程学院,天津300401 [3]山西大同大学煤炭工程学院,山西大同037009

出　　处：《机床与液压》2021年第19期32-37,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51775166);2020年度山西省高等学校科技创新项目(2020L0480);2020年大同市科技计划项目(2020021)。

摘　　要：针对各应用领域对具有复杂环境适应能力的行走机器人的需要越来越大的现状,从灵活性和稳定性入手设计仿生六足机器人,通过规划机器人的运动步态,分析多自由度在运动过程中的突出优点,并研究不同运动步态下各转动关节的转矩随时间的变化关系,将软件模拟和样机测试所得数据相互参照,对机器人的实际运动能力进行检测,验证仿生六足机器人结构的合理性和运动的可行性,为仿生六足机器人物理样机的进一步研制提供理论依据。In view of the increasing demand for walking robots with adaptability to complex environments in various application fields,a bionic hexapod robot was designed from the point of flexibility and stability.By planning the gait of the robot,the outstanding advantages of multi-DOF in the motion process were analyzed,and the different gaits were studied.The relationship between the torque of the rotating joint and time was analyzed.The actual motion ability of the robot was tested by referencing the data from software simulation and prototype test.The rationality of the structure and the feasibility of the motion of the bionic hexapod robot were verified.It provides a theoretical basis for the further development of the physical prototype of the bionic hexapod robot.

关 键 词：六足机器人 结构设计 运动步态 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]