摘 要：论文简述了课题的背景及目的，对仿生学机器人做了简单介绍。本文通过对仿生六足机器人的步态规划的研究，确定了六足机器人的足的结构，采用 3 自由度分析了步态稳定性，实现六足机器人直线行走和转弯行走。总体设计包含了六足机器人的装配图和零件图的绘制，并对相关零件做了校验，确保机构设计的可行性。
关键词：仿生学；六足机器人；机构
Design of Bionic Hexapod Robot Mechanism
Student: Liu Liang
Tutor: Sun Songlin
(Oriental Science ＆Technology College of Hunan Agricultural University, Changsha 410128)
Abstract: The paper has summarized the background and the goal of its topic and has made the simple introduction of the bionic hexapod robot. Through the research of the motion of the six feet of the robot, This design has determined the foot structure，using the analysis of 3 degrees of freedom realizes the forward motion and turning motion of the robot . Picturing of the component and assembly mapping of the bionic hexapod robot as well as the inspection of related parts which ensures the feasibility of the machinery design are both included in the total design.
Key words: bionics ；hexapod robot ；machinery
发表于 2012-6-17 23:08:20
