| 仿生机器蟹样机研究 |
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| 引用本文： | 王立权,孙磊,陈东良,张玲,孟庆鑫.仿生机器蟹样机研究[J].哈尔滨工程大学学报,2005,26(5):591-595. |
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| 作者姓名： | 王立权 孙磊 陈东良 张玲 孟庆鑫 |
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| 作者单位： | 哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 15001 |
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| 基金项目： | 国家自然科学基金资助项目(60175029) |
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| 摘 要： | 文中介绍的仿生机器蟹具有8足,24个自由度,基于ARM的双层分布式递阶控制方式,通过多传感器获取环境信息,调节身体的姿态,目标是可以自主地在海滩、礁石区和崎岖不平的环境行走.文中介绍了仿生机器蟹原理试验样机研制的过程和主要研究方法,主要包括生物原形分析、模型的建立、运动学分析、步态问题、机械结构设计、控制系统设计和原理样机的试验等内容.在单步行足的控制实验的基础上,进行了原理样机的整机行走实验研究.仿生机器蟹能够实现前进、后退、横行、转弯等功能,并具有一定的越障能力.进行仿生机器蟹的研究,目地是建立多足步行机器人的研究平台.
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| 关 键 词： | 机器蟹 多足机器人 仿生学 ARM |
| 文章编号： | 1006-7043(2005)05-0591-05 |
| 收稿时间： | 2004-11-18 |
| 修稿时间： | 2004年11月18 |
A bionic crab-like robot prototype |
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| WANG Li-quan,SUN Lei,CHEN Dong-liang,ZHANG Ling,MENG Qing-xin.A bionic crab-like robot prototype[J].Journal of Harbin Engineering University,2005,26(5):591-595. |
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| Authors: | WANG Li-quan SUN Lei CHEN Dong-liang ZHANG Ling MENG Qing-xin |
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| Affiliation: | School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | Research,design,and construction were performed on a crab-like robot with 8 legs and 24 degrees of freedom.The aim was to create a robot that could walk on a beach,reef,and uneven terrain automatically.It used a double-layers control system using ARM technology,which could obtain surrounding information by multi-sensors and make adjustments.Results presented here include shape analysis of the crab,establishment of the robot model,kinematics analysis,gaits study of the eight-legged robot,design of machine framework,control system design,and the experiment of the prototype,which came after a single-leg test.During experiments the prototype showed good agility and could get over obstacles. Study on the bionic crab-like robot provides a theoretic and practical base for research on a bionic multi-leg robot. |
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| Keywords: | crab-like robot multi-leg robot bionic ARM |
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