四足侦察机器人的设计与研究

Design and Research of Four-leg Recon Robot

针对便携式、微型化多地形适应型侦察设备的迫切需求,从仿生的角度设计出了一款四足侦察机器人。在确定采取外肘内膝总体对称布置后,首先完成了机器人腿部、支架和外壳等机构和结构件设计;随后对其中的腿部支撑、传动减振和关节驱动函数进行了设计说明;最后在动力学仿真软件中对四足机器人腿关节运动、整机运动、足端运动进行了运动学分析和慢跑步态的动力学分析,证明该机器人在运动平稳性和速度稳定性方面能够满足侦察设备的要求。

Aiming at the urgent need of portable, rain, a fourleg recon robot is designed based on the miniaturized recon equipment fits for all kinds of terperspective of bionics. At first, the structures of robot, such as legs, support, shell and other parts are completed after choosing the whole symmetric structure of out-side elbow and inside knee. Then, the design and description of its leg support, transmission, shock absorption and joint - driving functions are carried out. At last, the kinematics analysis of the movement of leg joints, robot body and the tip of the leg and the dynamics analysis of jogging gait are carried out through ulation software, it is proved that this robot could meet the requirement of stability of motion recon equipment.