平面四足步行机器人结构设计

Structure Design of a Plannar Quadruped Robot

设计了一种平面四足步行机器人原理样机,用以验证一种用于平面复杂地貌的行走方式。该机器人由四个伸缩式步行足组成,末端带有弹性足端,可以在支撑杆的协助下沿着圆形模拟复杂地貌行走。该样机采用四个可以实现两维平面运动的步行足构成,用于验证平面步行的期望落地步行方法。利用DSPACE半平台对机器人足部运动轨迹进行实验,结果表明,该样机的设计完全合理。

A planner quadruped robot is designed in this paper to validate a walking method used in unstructured territory walking.The robot is composed of four transitional legs with flexure foot which can walks on a round unstructured territory while it is restrained using a support pole.A prototype is manufactured with four planner walking legs.Foot trace experiment is made using DSPACE.The experiment shows that the design is reliable.