| 微型六足仿生机器人及其三角步态的研究 |
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| 引用本文： | 徐小云,颜国正,丁国清. 微型六足仿生机器人及其三角步态的研究[J]. 光学精密工程, 2002, 10(4): 392-396 |
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| 作者姓名： | 徐小云 颜国正 丁国清 |
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| 作者单位： | 上海交通大学,信息检测技术及仪器系,上海,200030 |
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| 基金项目： | 上海市曙光计划 (No.98SG1 8) |
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| 摘 要： | 基于仿生学原理,在分析六足昆虫运动机理的基础上,采用平面四连杆机构、蜗轮蜗杆减速机构、皮带传动机构、微型直流电机驱动和PC机控制方案,研制成一种新型"微型六足仿生机器人",其样机外形尺寸为:长30mm,宽40mm,高20mm,重6.3g.讨论了该机器人的运动步态并分析了其运动稳定性,实验结果表明该机器人具有较好的机动性.
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| 关 键 词： | 六足机器人 仿生机器人 连杆曲线图谱 三角步态 |
| 文章编号： | 1004-924X(2002)04-0392-05 |
| 收稿时间： | 2002-01-17 |
| 修稿时间： | 2002-01-17 |
Research on miniature hexapod bio-robot and its tripod gait |
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| XU Xiao-yun,YAN Guo-zheng,DING Guo-qing. Research on miniature hexapod bio-robot and its tripod gait[J]. Optics and Precision Engineering, 2002, 10(4): 392-396 |
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| Authors: | XU Xiao-yun YAN Guo-zheng DING Guo-qing |
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| Affiliation: | Department of Information Detecting Technology and Instrument, Shanghai Jiaotong University, Shanghai, 200030, China |
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| Abstract: | Based on the principle of bionics and analysis of the movement mechanism of hexapod, a new type of miniature hexapod bio-robot was developed by using four-bar linkage, screw gearing, belt gear, driven by D.C. micromotor and controlled by PC.The external dimensions of the model machine are 30mm?40mm?20mm and its weight is 6.3 g. The robot's movement gait and the movement stability are analyzed in this paper. The experimental results show the robot has good mobility. |
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| Keywords: | hexapod robot bionic robot link curve atlas tripod gait |
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