四足步行机器人的结构及运动仿真分析  

Kinematic and Dynamic Analysis of the Quadruped Walking Robot′s Structure and Movement Simulation

作　　者：龚金锭 王远[1] 蔡心远 楼航飞 马鲁洁 陈紫月 GONG Jin-ding;WANG Yuan;CAI Xin-yuan;LOU Hang-fei;MA Lu-jie;CHEN Zi-yue(School of Mechanical and Traffic Engineering,Southwest Forestry University,Kunming 650024,Yunnan,China)

机构地区：[1]西南林业大学机械与交通学院,云南昆明650024

出　　处：《机械研究与应用》2024年第5期148-150,共3页Mechanical Research & Application

摘　　要：随着科技的不断进步,机器人的设计和应用逐渐成为当今科技领域研究的热点,机器人产业得到了快速发展。为了增强四足步行机器人的环境适应性和灵活性,发挥其在众多领域的关键作用,该文在分析当前研究现状及传统步行机构局限性的基础上,参考契贝谢夫四足步行机构,采用平面六杆机构,对四足步行机器人的结构进行分析和优化,利用AutoCAD 2023和SolidWorks软件进行三维建模和运动仿真分析,验证了所设计结构的合理性和可行性。With the continuous advancement of technology,the design and application of robots have gradually become a hot topic in the field of technology research,and the robotics industry has developed rapidly.In order to enhance the environmental adaptability and flexibility of quadruped walking robots so as to play a crucial role in various fields,this article analyzes the current research status and limitations of traditional walking mechanisms;on this basis,referring to the combination of Chebyshev′s quadruped walking mechanism,the structure of the quadruped walking robot is analyzed and optimized with a planar six-bar mechanism.The 3D modeling and motion simulation analysis are conducted by using AutoCAD 2023 and SolidWorks software to verify its rationality and feasibility.

关 键 词：四足步行机器人 六杆机构 结构分析 运动仿真 

分 类 号：TG156.1[金属学及工艺—热处理]