基于空间曲线啮合轮的六足机器人结构设计与分析

The Structure Design of Six-legged Robot based on Space-curve-meshing-wheel

为减小六足机器人的体积及优化其结构,设计一种基于空间曲线啮合轮的六足机器人。详细介绍空间曲线啮合轮传动机构及执行机构的特点及设计思路,对机器人的受力情况进行分析。新型机器人结构简单,体积小且成本低。

In order to reduce the volume of six legged robot and optimizing its structure, a six-legged robot was design ed based on the space curve meshing wheel. This paper gives a detailed description of the characteristics of the space curve meshing wheel transmission mechanism and executing mechanism and the design of this robot. The stress state of the robot is analyzed. This new robot enjoys such advantages as being simple in structure, small in size and low in cost.