一种全方位运动八足机器人的创新设计  

An Innovative Design of an Eight-legged Robot of All-round Motion

作　　者：孙筠 吴世强 SUN Jun;WU Shi-qiang(School of Physics and Mechanical&Electrical Engineering,Hubei University of Education,Wuhan 430205,China)

机构地区：[1]湖北第二师范学院物理与机电工程学院,武汉430205

出　　处：《湖北第二师范学院学报》2023年第8期31-36,共6页Journal of Hubei University of Education

基　　金：2021年度湖北高校省级教学研究项目“突破边界,泛在实训——新工科开放实训平台应用研究”(2021457)。

摘　　要：全方位运动八足机器人,主要由机械、控制和驱动三部分组成。机械设计部分核心为腿部结构,腿部运用相比传统多杆机构更简单的开环三杆机结构,八条腿左右对称设计,每条腿上三个自由度,分别用三个舵机独立驱动控制,通过调节各腿的运动状态实现全方位运动。控制部分选用基于ARM Cortex-M3内核高性能STM32单片机的24路舵机控制板。驱动部分选择MG995型号的舵机。实验测试表明,八足机器人采用四角步态与三角步态相结合的运动步态,能用PS2手柄或手机遥控完成8足运动、6足运动、夹取物体等多种复杂动作,具有广泛的应用前景。A eight-legged robot of all-round motion is composed of three parts:machinery,control and drive.The core of the mechanical design is the leg structure.Compared with traditional multi-bar mechanism,the leg uses simpler open-looped three-bar mechanism.The eight legs are designed symmetrically.Each leg has three degrees of freedom.The three steering gears are used to drive and control independently,and the all-round movement is realized by adjusting the motion state of each leg.The control part is a 24 channel steering gear control board based on ARM Cortex-M3 core high-performance STM32 micro-controller.MG995 type steering gear is selected for driving part.The experimental test shows that the eight-legged robot walks with four-corner gait and triangular gait.It can perform the eight-legged movement and six-legged movement.It can grab objects with remote control of PS2 handle or mobile phone.It has a wide range of application prospects.

关 键 词：机器人 三角步态 四角步态 舵机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]