四足行走机器人

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四足行走玩具的结构设计

摘 要

四足机器人具有较强的承载能力、机动性和适应特殊地形的能力，在许多行业有着广泛的应用前景。本文以仿马四足机器人的机构和步态为研究对象，分析和制作了四足机器人，建立了四足机器人一般步态的时间顺序分析模型和对称步态变换模型

描述了机器人腿臂融合机构, 分析和计算了机构的运动空间, 通过对机构运动的仿真证明本文所研究的机构在运动空间上的突破,从而实现腿臂融合功能。结合实际,详细地分析了四足步行机器人的步态和腿机构的运动关系,并在此基础上给出了四足步行机器人腿部机构和驱动控制方案。

四杆机构和凸轮机构在机动玩具设计中应用非常广泛 ,通过对四足行走玩具动作机构分析 ,阐述了四杆机构在行走类玩具中的应用特点及设计注意事项。通过解剖玩具实例 ,说明玩具动作机构设计的灵活性和巧妙性。要求玩具设计师不但要掌握机构设计的基本原理 ,还要做到灵活应用 ,有所创新 ,才能不断设计出好作品。

关键词：步态；步行机构； 四杆机构；结构设计；






structural design of a quadruped walking robot

Abstract

With good performance in capacity, mobility and versatility, quadruped robot can be applied in many fields. This dissertation studies the structure and gaits of quadruped robot imitating a horse, presents the timing sequence analysis models of common gaits as well as the transition model between symmetric gaits, builds up a mini-quadruped imitating a horse, and carries out a gait transition experiment.

We discuss about “Integrated arm and leg mechanism ” and its possible moving area.The result of simulation shows this “Integrated arm and leg mechanism ” can greatly expand the possible moving area. We designed a leg mechanism for a quadruped walking robot. We first analyzed in detail the kinematic relationship between the gait of the quadruped walking robot and the leg mechanism. Based on the analysis, a driver for this kind of leg mechanism is designed.

Four - rod mechanisms and cam members are in common use in action toy designs . Byway of analyzing the action mechanism of toys which can walk by four foots, the characteristics and points for attention in design of four - rod mechanisms were expounded . Using an example, the action mechanism design of a toy was flexible and ingenious . I n order t o design fine products, toy designers should not only master the basic principles of design but also apply them cleverly and bring forth new ideas .

Key words: Leg mechanism; Stability gait control; Four - rod mechanism; Structural design

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