| 仿生六足机器人的结构设计及运动分析 |
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| 引用本文： | 郭建,谢鑫,蒋品.仿生六足机器人的结构设计及运动分析[J].机床与液压,2019,47(3):21-26. |
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| 作者姓名： | 郭建 谢鑫 蒋品 |
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| 作者单位： | 华南理工大学广州学院机械工程学院,广东广州,510800;华南理工大学广州学院机械工程学院,广东广州,510800;华南理工大学广州学院机械工程学院,广东广州,510800 |
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| 基金项目： | 2016广东省普通高校青年创新人才项目;华南理工大学广州学院优秀青年骨干教师项目(52CQ18YG20) |
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| 摘 要： | 在分析多足昆虫结构特点和运动功能特点的基础上,完成了仿生六足机器人的结构设计和样机制作。基于ADAMS与MATLAB联合编程,设计仿生六足机器人CPG(中枢模式发生器)控制模型。基于ADAMS对六足机器人进行直行步态运动仿真分析,得出六足机器人的直线运动步态控制数据。通过对样机实验,结果表明仿生六足机器人的运动稳定,满足设计要求。
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| 关 键 词： | 仿生六足机器人 ADAMS MATLAB CPG控制模型 步态 |
Structural Design and Motion Analysis of Hexapod Bionic Robot |
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| GUO Jian,XIE Xin,JIANG Pin.Structural Design and Motion Analysis of Hexapod Bionic Robot[J].Machine Tool & Hydraulics,2019,47(3):21-26. |
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| Authors: | GUO Jian XIE Xin JIANG Pin |
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| Affiliation: | (School of Mechanical Engineering, Guangzhou College of South China University of Technology, Guangzhou Guangdong 510800, China) |
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| Abstract: | On the basis of analyzing the structural characteristics and motion function of galley worm, a research on structural design and prototype manufacture of hexapod bionic robot was completed. The control model of CPG ( Central Pattern Generator) for hexapod bionic robot was designed based on the joint programming of ADAMS and MATLAB. The control data of linear motion gait for hexapod robot was obtained based on the simulation analysis by ADAMS. The experiment results show that the hexapod bionic robot moves stably, satisfying the requirements of design. |
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| Keywords: | Hexapod bionic robot ADAMS MATLAB Central pattern generator control model Gait |
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