基于空间曲轴的六足昆虫运动研究  

Research on Hexapod Movement Based on the Spatial Crankshaft

作　　者：田于财 邓海龙 冯辉宗[2] 李锐[2] Tian Yucai;Deng Hailong;Feng Huizong;Li Rui(School of Intelligent Engineering,Chongqing Yitong University,Chongqing 401520,China;Automation College,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)

机构地区：[1]重庆移通学院智能工程学院,重庆401520 [2]重庆邮电大学自动化学院,重庆400065

出　　处：《机械传动》2023年第7期69-76,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(11372366);重庆市教育委员会科学技术研究项目(KJQN201802401);重庆移通学院机械设计制造及其自动化专业建设资助。

摘　　要：观察现实生活中六足昆虫爬行时各足的运动特征,根据该特征设计了一种创新型3段式空间曲轴,依次与前、中、后足相连,并将与各足相连部分设计成不同的空间连杆机构;为保证各足之间爬行时的运动协调性,分析了空间曲轴和与其有连接关系的各足机构运动参数取值问题;依据协调性运动参数对六足昆虫进行结构建模,并对行走协调性进行了Catia运动仿真。最后,制造出实物进行运动测试,验证了空间曲轴传动结构的可行性。By observing the movement characteristics of each foot when hexapod crawls in reality,according to this feature,an innovative three segment spatial crankshaft is designed.Connect the three sections of the crankshaft in this space with the front,middle and rear feet in turn.The connecting parts with each foot are designed into different spatial linkage mechanisms.In order to ensure the motion coordination of each foot when crawling,the kinematic parameters of the spatial crankshaft and its connected mechanisms are analyzed.Based on the coordinated motion parameters,the hexapod structure is modeled,and the walking coordination is simulated by Catia.At last,real objects are produced for motion test.Therefore,the feasibility of spatial crankshaft transmission structure is verified.

关 键 词：六足昆虫 空间曲轴 空间连杆机构 结构建模 运动仿真 

分 类 号：Q811[生物学—生物工程]