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仿生甲虫六足机器人结构设计与步态分析(PDF)

《南京林业大学学报(自然科学版)》[ISSN:1000-2006/CN:32-1161/S]

Issue:
2012年06期
Page:
115-120
Column:
研究论文
publishdate:
2012-12-05

Article Info:/Info

Title:
Structural design and gait analysis of hexapod bionic robot
Author(s):
JIANG Shuhai SUN Pei TANG Jingjing CHEN Bo
Institute of Intelligent Control and Robotics, Nanjing Forestry University,Nanjing 210037, China
Keywords:
bionic beetle hexapod robot structure design gaitmotion simulation
Classification number :
TP242
DOI:
10.3969/j.jssn.1000-2006.2012.06.023
Document Code:
A
Abstract:
On the basis of analyzing the prototype characteristics of the bionic beetle biological and motor function, we have carried out a research on bionic hexapod beetle robot and designed the biological prototype of the bionic hexapod beetle robot. This paper briefly introduced the characteristics of the biological prototype of the bionic hexapod beetle robot and its motor function. Based on this, structural design and prototype of the hexapod biorobot are designed. By using the structural and functional bionic principles, the prototype was designed based on the beetle, which has six legs, and each leg has 3 degrees of freedom. When designing the robot mechanical structure, an axial symmetry of the octagonal design is used in the design of hexapod bionic robot body, and its 6 legs are evenly distributed on both sides. All joints are driven by servo motors. The components, which are used to connect joints, are the synthetic plastic that has good performance instead of mental constructional elements. It ensures the robot can imitate the way of walking insects effectively. The threelegged gait of bionic beetle robot is discussed and a detailed analysis of straight line walking gait and turning point gait is shown in this paper. The end position vector expressions of the six legs of the robot during straight walking and turning are given. SOLIDWORKS and ADAMS are used on the robot motion simulation, the results show that robot moves smoothly and meet the design requirements.

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Last Update: 2012-11-30