单曲轴驱动的6足爬卧式微型机器人的设计

Design of a miniature hexapod crawling robot driven by single-crankshaft

根据类似三角形步态原理,以金属线为制作原料,采用单条曲轴驱动设计,以曲柄连杆机构为传动系统而设计开发了一种只需1个电机的微小型6足步行机器人.该机器人的步行腿分别与曲轴铰接,曲轴通过连杆带动步行腿的上下、左右摆动和前后摆动,实现6足机器人前进.机构设计简单巧妙,控制简单.行走试验表明,本设计机构可以实现6足类似三角形步态行走功能,具有一定的娱乐性和实际推广应用价值.

Based on the triangle gait similar principle,a miniature hexapod walking robot is designed with the metal wire,which is driven by single-crankshaft and linked by crank-connecting rod mechanism,and only one motor is equiped.The walking legs of the robot are respectively hinged with the crank,which makes the legs move up and down,left and right,forward and backward.The design is ingenious and simple-controlled.The walking test indicates that this mechanical design can make the hexapod walk similar to the triangle gait,which is quite valuable both in the field of entertainment and actual application.