仿生六足机器人机构设计及驱动系统研究

Study on Mechanism Design and Drive System of Bionic Hexapod Robot

在抗震救灾工作中,由于外部环境的恶劣和复杂,使得整个救援工作变得艰难和缓慢。因此,基于在特种环境中工作的六足机器人,设计了一种可应用于大负载、高越障能力的六足机器人机构,旨在顺利有效地协助开展救援工作。首先,针对六足机器人的运动特点,设计机器人的腿部关节配置和三维模型,并采用双液压缸驱动增大机器人的驱动力矩。其次,根据模块化设计思路,完成单腿目标的详细机械设计。最后,根据机器人的运动控制要求,采用Arduino UNO的开源硬件平台搭建主要的控制电路,并使用增量式的PID算法对电机进行PWM调速控制,得到机器人稳定的运动控制系统。实践表明,对六足机器人的设计和对控制系统的研究,在工程应用中具有重要的理论和现实意义。

In the work of earthquake disaster relief,the entire rescue works are difficult and slow due to the harsh and complicated external environment.In this paper,aiming for helping rescue work smoothly and effectively,a hexapod robot mechanism which can be applied to large load and high obstacle surmounting capacity is designed for hexapod robot working in special environment.Firstly,according to the movement characteristics of the hexapod robot,the configuration of the leg joint and the three-dimensional model of the robot were designed.Further,the detailed mechanical design of the single-leg target is completed in accordance with the modular design idea.Then to obtain the stable motion control system and satisfy the motion control requirements of the robot,the open source hardware platform for Arduino UNO is employed to build the main control circuit,and the incremental PID algorithm is used to control the PWM speed of motor.In this paper,it is of theoretic and immediate significance for the research on the design and control system of the hexapod robot to the engineering application.