基于仿生步态算法的直立行走机器人的设计

Design and manufacturing research of upright walking robot based on bionic gait algorithm

传统直立行走机器人存在指令完成速度慢的缺陷。本文提出了基于仿生步态算法的直立行走机器人的设计方法。依照机器人运动流程,设计机器人行走动力学方程,计算运动耗能量;选择减速性能较强的涡轮电机装置,设计机器人偏心转体结构,计算可承受外界最大荷载力;引入PWM数据微处理技术,控制直立行走机器人通信模式;调试直立行走机器人腿部肢干,规划直立机器人行走步态。设计实验,模拟实验环境,验证结果表明:所设计的机器人在实际应用中可有效缩短指令完成时间,更具备市场实际调研价值。

The traditional upright walking robots have the defect of slowcommand completion.Therefore,the design and manufacturing research of upright walking robot based on bionic gait algorithm is proposed.According to the robot action flow,dynamic equation of robot walking is designed and the energy consumption is computed.Besides,the turbine motor device with strong deceleration performance is selected,the eccentric rotating body structure of the robot is designed and the maximum external load force is calculated.Introducing PWM data micro-processing technology to control the communication mode of the upright walking robot.The leg limbs of the upright walking robot is adjusted to plan the walking gait of the upright robot.Experiment shows that the designed robot can effectively shorten the instruction completion time in practical application,making it more valuable for market actual research.