六足步行机器人机械系统

The Mechanical System of a Hexapod Walking Robot

针对一种自主研制的具有全方位运动功能的六足步行机器人原型机,介绍了该机器人的运动功能要求,对比分析了不同腿机构形式和整体布局模式对机器人的影响,确定合理腿机构和布局模式;在理论上描述了机器人机械系统结构原理,验算了整机的运动自由度并描述腿机构静力学极限力的求解规则;结构上详细描述了模块化腿臂融合机构的部件组成、功能特性和传动形式;最后通过实验和数据验证了该机械系统满足机械强度和步行运动功能的要求。

Studying on an omnidirectional hexapod walking robot, this article introduces the functionality on structure and movement, compares the characteristics of different modes and distribution forms of legs, calculates the DOFs of the robot and gives out the rule to solve the static maximum force acting on each leg. The mechanical structure of the integrated arm/leg module and the transmisson mode are also explained in details. At last, the experiments show that the mechanical system can reach the requests of walking function.