论文部分内容阅读
针对便携式、微型化多地形适应型侦察设备的迫切需求,从仿生的角度设计出了一款四足侦察机器人。在确定采取外肘内膝总体对称布置后,首先完成了机器人腿部、支架和外壳等机构和结构件设计;随后对其中的腿部支撑、传动减振和关节驱动函数进行了设计说明;最后在动力学仿真软件中对四足机器人腿关节运动、整机运动、足端运动进行了运动学分析和慢跑步态的动力学分析,证明该机器人在运动平稳性和速度稳定性方面能够满足侦察设备的要求。
In response to the urgent need of portable and miniaturized multi-terrain adaptive reconnaissance equipment, a four-legged reconnaissance robot was designed from the perspective of bionics. After the overall symmetrical arrangement of the medial and lateral elbow was determined, the design of mechanism and structure such as the leg, bracket and shell of the robot were completed first. Then the leg support, transmission vibration reduction and joint drive function were designed and described. Finally, In kinematics simulation software, kinematics analysis and jogging gait dynamics analysis of leg movement, machine movement and foot end movement of quadruped robot are carried out. It is proved that the robot can meet the requirements of reconnaissance in motion stability and speed stability Equipment requirements.