基于慧鱼模型的多足爬行机器人系统研究  

Research on Multi-legged Crawling Robot System Based on Fischertechnik

作　　者：张芷瑞 张硕 孙浩 于淇 姬光辉 尹福禄 杨名[1] 刘亚梅[1] ZHANG Zhirui;ZHANG Shuo;SUN Hao;YU Qi;JI Guanghui;YIN Fulu;YANG Ming;LIU Yamei(College of Mechanical and Electrical Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学机电工程学院,长春130012

出　　处：《机械工程师》2023年第10期47-49,共3页Mechanical Engineer

摘　　要：为了研究足式机器人的相关机械特性,基于慧鱼模型设计并组装了一种多足爬行机器人。应用机械原理相关知识,通过CATIA三维建模软件,对该机器人进行了三维建模。根据该建模,应用德国慧鱼创意组合模型进行了组装。采用MCS-51单片机对该机器人进行了控制电路设计及程序调试。最后进行了实物测试,测试结果表明,该机构结构合理、运行稳定,达到了预期的载物能力和运输效力,并在此基础上加装了喷水、切割等多功能机械结构,值得推广。In order to study the mechanical characteristics of the legged robot,a multi-legged crawling robot is designed and assembled based on the Fischertechink.The three-dimensional model of the robot is set up based on the relevant knowledge of mechanical principle by CATIA software.According to the model,the Fischertechink is applied to assemble.The control circuit design and program debugging of the robot are carried out using MCS-51 single-chip microcomputer.Finally,the physical test is carried out.The test results show that the structure of the mechanism is reasonable,the operation is stable,and the expected load capacity and transportation effectiveness are achieved.On this basis,multi-functional mechanical structures such as water spraying and cutting are added,which is worthy of popularization.

关 键 词：慧鱼 足式机器人 MCS-51单片机编程控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]