Developed of the New Eight-legged Walking Bionic Robot

Zang Hongbin; Tao Junjie

doi:10.16578/j.issn.1004.2539.2015.09.046

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Developed of the New Eight-legged Walking Bionic Robot

更新时间：2022-10-20

- Developed of the New Eight-legged Walking Bionic Robot
- Vol. 39, Issue 9, Pages: 181-185(2015)
- 作者机构：
  
  1. 西南科技大学制造过程测试技术省部共建教育部重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.09.046
  CLC：
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[1]臧红彬,陶俊杰.新型八足步行仿生机器人的研制[J].机械传动,2015,39(09):181-185.

Zang Hongbin, Tao Junjie. Developed of the New Eight-legged Walking Bionic Robot. [J]. 39(9):181-185(2015)
[1]臧红彬,陶俊杰.新型八足步行仿生机器人的研制[J].机械传动,2015,39(09):181-185. DOI： 10.16578/j.issn.1004.2539.2015.09.046.

Zang Hongbin, Tao Junjie. Developed of the New Eight-legged Walking Bionic Robot. [J]. 39(9):181-185(2015) DOI： 10.16578/j.issn.1004.2539.2015.09.046.

摘要

设计了一种新型的八足步行仿生机器人的机械结构,并建立腿部运动学方程。基于虚拟样机技术对该仿生机器人进行了腿部机构优化设计以及机器人爬坡能力、通过非平整路面能力、转弯步态规划等功能仿真分析。仿真结果表明,该仿生机器人机构具有控制简单、运动灵活、爬坡能力良好、转弯半径小等特点。最后研制出了该机器人小型实物样机,通过实物样机测试验证了其诸多优良性能。

Abstract

A new kind of eight- legged walking bionic robot mechanical structure is designed. The kinematics equation of the leg is set up. Based on virtual prototyping technology,the mechanism of the bionic robot leg is optimized,and the ability of gradeability,crossing uneven road and the gait planning of the turning are simulated and analyzed. The results show that the eight- legged walking bionic robot has many excellent performances,including controlled easy,flexible movement,good climbing ability and small turning radius. Finally,a small physical prototype of the robot is developed,through which many excellent performances is tested.

关键词

八足步态仿生机器人虚拟样机运动学分析功能分析实物样机

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