新型微型六足机器人的运动原理及控制程序

Kinematical Principles and Movement Control Program of New Miniature Bionic Hexapod Robot

介绍了一种微型六足机器人的新结构,该结构将直线行进运动与转向运动合理地结合了起来,论述了这种新型结构的运动结合原理以及基于IO板的机器人控制系统VB软件编程,分析了机器人的运动稳定性和灵活性,给出了实验结果和分析。成功制作了机器人样机——“银甲虫1号”,其大小为:半径3cm,高4.2cm,重49g。实验证明“银甲虫1号”运动灵活可靠,有很好的机动性。

This paper introduces a new mechanics of miniature bionic hexapod robot, which combines motion with rotation rationally. The following introduction is focused on the special combination method and program design of the robot＇s control system and the analysis of the kinematical stability and flexibility of the robot. In the end, it presents some experimental results and analysises. A robot prototype have been successfully maden according to the new mechanics, and it is named ＂Silver Scarab I＂. The size of the prototype is 3cm in radius, 4.2cm in height, and it weighs 49g. The experimental result shows that the ＂Silver Scarab I＂ is very agile and reliable.