一种六足仿生巡检机器人的设计与实现

Design and Implementation of a hexapod bionic patrol robot

摘要:

六足仿生机器人因其灵活度好、可靠性高、适应性强等特点而得到广泛应用。针对六足仿生巡检机器人，从结构设计、步态规划、系统仿真和实物构建等方面，探索一般意义上系统设计和实现方法。首先设计了六足仿生机器人的多关节机械结构，并给出了此类系统的量化建模方法；然后采用了重心随动的三角步态规划方法，对系统稳定性和典型步态规划进行了量化分析；在此基础上基于标准D-H参数法建立了机器人的运动学模型，并且通过仿真实现了六足机器人向前纵向行走和向右横向行走的直线平稳运动；最后通过六足仿生巡检机器人实物测试，验证了所设计的结构和步态规划方法的可行性和有效性。

Abstract:

Hexapod bionic robot has been widely used because of its flexibility, reliability and adaptability. Aiming at hexapod bionic patrol robot，the general system design and implementation methods are explored from the structural design, gait planning, system simulation and physical construction and so on.Firstly, the multi-joint mechanical structure of hexapod bionic robot is designed, and the quantitative modeling method of this kind of system is given. Then the system stability and typical gait planning are analyzed quantitatively by using the method of gravity center dependent trigonometric gait planning. Subsequently, on this basis, the kinematics model of the robot is established based on the standard D-H parameter method and the straight and smooth motion of the hexapod robot is realized through simulation. Finally, the feasibility and effectiveness of the proposed structure and gait planning method are verified by the physical test of the hexapod bionic patrol robot.