六足步行机构的运动分析与仿真

Motion Analysis and Simulation for a Hexapod Robot

地球上近50%的地面为非结构环境,传统的轮式或履带式车辆难以到达。针对这种情况,介绍了一种六足步行机构,该机构在工作过程中能耗小且速度高。同时,利用结构分析、运动分析和力分析等方法,结合平面连杆机构的相关理论对该机构进行了分析,并采用Pro/E软件对其进行了三维造型和单腿运动仿真。结果标明,该机构是可行且合理的,并且具有良好的移动性能,为该六足步行机构的设计和进一步开发研究提供了一定的理论依据。

Nearly half of the ground on the earth is unstructured environment,which is hard to reach for the traditional wheel or tracklayer.This article introduces a hexapod robot which has the the characteristics of less energy consumption and higher walking speed,then analyses it with the method of structural analysis,kinematic analysis and force analysis and the theory about planar linkage.Then some simulation is taken for it.Therefore,the design of the hexapod robot with good capacity of locomotion is reasonable and feasible.This article provides the theoretical basis for the design and the further development research.