气动柔性关节六足机器人结构设计与步态实验

The Structure Design and Gait Planning of the Pneumatic Flexible Joint Hexapod Robot

采用自主研发的气动柔性关节,研制了一种地面移动六足机器人,能够实现前后、左右移动和转动等功能.重点研究了柔性关节六足机器人腿部结构、关节的运动原理和行进步态.搭建了试验台,通过高速摄像等实验手段,验证了机器人步态规划的合理性.为气动柔性关节六足机器人在实践中的应用,提供了理论与实践基础.

This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. The shape of the body,leg structure,motion principle and walking gait of the flexible joint six legged robot are studied. The test bed was set up,and the rationality of the robot gait was verified by means of high-speed video and other experimental methods.For pneumatic flexible joint six-legged robot application in practice,provides the basis of theory and practice.