六足机器人仿生结构设计与步态优化  

Biomimetic Structural Design and Gait Optimization of Hexapod Robot

作　　者：徐子阳 吴键[1] 秦忠刚 朱金鑫 XU Ziyang;WU Jian;QIN Zhonggang;ZHU Jinxin(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Yangzhou City Jinxin Cable Co.,Ltd.,Gaoyou 225600,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]扬州市金鑫电缆有限公司,高邮225600

出　　处：《自动化与仪表》2025年第2期57-62,共6页Automation & Instrumentation

摘　　要：现有的六足机器人在总体结构设计及足端运动轨迹等方面存在不足,导致机器人整体运动稳定性不高。为此该文以六足节肢动物蜘蛛为参考对象,参考蜘蛛腿部各关节比例进行机器人腿部设计。提出一种基于贝塞尔曲线的足端轨迹,并与传统复合摆线法进行对比实验。样机实验结果表明,六足仿生机器人结构设计合理,能够实现基本运动,改进后的足端轨迹使机器人运动更加平稳,研究结果可以为六足机器人结构与机器人足端运动轨迹提供重要参考。Current hexapod robots exhibit shortcomings in overall structural design and foot trajectory,resulting in suboptimal stability during movement.This paper references the spider,a hexapod arthropod,to design the robot's legs based on the proportions of the spider's leg joints.A foot trajectory based on Bézier curves is proposed and compared with the traditional composite cycloid method through experiments.Prototype experiments demonstrate that the structural design of the hexapod biomimetic robot is reasonable,achieving basic movements,and the improved foot trajectory enhances the stability of the robot's movement.The research findings provide significant references for the structural design and foot trajectory planning of hexapod robots.

关 键 词：六足机器人 仿生结构设计 关节电机驱动 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]