| 微型仿生四足机器人的研究 |
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| 引用本文： | 张扬,颜国正,吴添斌.微型仿生四足机器人的研究[J].测控技术,2009,28(8). |
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| 作者姓名： | 张扬 颜国正 吴添斌 |
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| 作者单位： | 上海交通大学,仪器科学与工程系,上海,200240 |
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| 摘 要： | 介绍了一种微型仿生四足机器人,对其机械结构和运动方式进行了理论分析和软件仿真,并制作了机器人样机,其长度41 mm,宽度49 mm,高度29 mm.利用两套平面连杆机构的有效组合,模拟了足式运动的抬腿、前跨、后拉等动作,通过可旋转式的机身实现机器人的转向,以微型电机配合微型齿轮减速器作为机器人驱动源.
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| 关 键 词： | 微型机器人 仿生机器人 步态 连杆机构 |
Research on Four-Footed Micro-Bionic Robot |
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| ZHANG Yang,YAN Guo-zheng,WU Tian-bin.Research on Four-Footed Micro-Bionic Robot[J].Measurement & Control Technology,2009,28(8). |
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| Authors: | ZHANG Yang YAN Guo-zheng WU Tian-bin |
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| Affiliation: | Department of Instrument Science and Engineering;Shanghai JiaoTong University;Shanghai 200204;China |
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| Abstract: | A kind of four-footed micro-bionic robot is introduced.The prototype is made based on analysis and simulation of its mechanical structure and moving principle.The external dimensions of bio-robot is:length 41 millimeter,width 49 millimeter,height 29 millimeter.It simulates foot-movement like leg lifting,stepping,pulling after by using effective combination of 2 sets of linkage.It rotates by rotary main body and the driver source is micro-motor combined with micro-gear reducer. |
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| Keywords: | micro-robot bio-robot gait linkage |
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