基于单片机控制的轮腿式六足越障机器人设计

Design of Six-legged Obstacle-crossing Robot based on Single-chip Microcomputer

腿式机器人运动速度较慢,能量利用效率低,且控制复杂,可靠性差。轮式机器人越障能力弱,环境适应性较差,难以适应复杂地形。为解决上述问题,本文设计并制作了一种轮腿式六足越障机器人,设计一种偏心式轮腿,通过旋转推动机器人行进。这使得机器人从传统的离散点着地变为连续点着地,具有更佳的稳定性和更快的运动速度。同时,偏心轴设计增大了有效半径,可以输出更大的扭矩,也赋予了其出色的越障能力;简单的机械结构增加了可靠性和灵活性。

The leg robot is slow in motion, low in energy utilization, complex in control and poor in reliability.Wheeled robot is weak in obstacle jumping ability, poor in environmental adaptability, and difficult to operate in complex terrain. In order to solve the above problems, this paper designed and made a wheel-legged hexapod reconnaissance robot. The robot changes from the traditional discrete point landing to the continuous point landing, which has better stability and faster movement speed. At the same time, the eccentric shaft design increases the effective radius,can output more torque, but also gives its excellent ability to jump over obstacles. It also avoids complex mechanical structure and has high reliability and flexibility.