基于切比雪夫机构的六足机器人研制

Development of a Six⁃legged Robot Based on the Chebyshev Mechanism

因足部能抬起离地,足式机器人的越障碍能力强,能适应复杂的路面,具有良好的应用前景。但由于控制技术、平衡性和稳定性等的限制,目前足式机器人仍处于实验室研究阶段。研制一种六足行走机器人,其本体是基于切比雪夫原理的二十杆机构,通过活动结点连接,在电机驱动及电路控制下,实现前进、后退、爬坡、翻越障碍、躲避障碍、转弯等智能化的功能。试制出样机,并进行实验验证。结果表明:该六足机器人稳定性强、行走快速,能在崎岖不平的路面行走;成本低,具有良好的市场前景。

Because the foot can lift off ground,the foot robot has a strong ability to overcome obstacles and can adapt to complex road surface,it has a good application prospect.However,due to the limitations of control technology,balance and stability,foot ro⁃bots are still in the laboratory research stage.A six⁃legged walking robot was developed.Its body was a 20⁃bar mechanism based on Chebyshev principle,which connected by active nodes.Under the motor drive and circuit control,the robot could actually move for⁃ward,back,climb,overcome obstacles,avoid obstacles,turn and other intelligent functions.The prototype was produced and it was verified by experiment.The results show that the six⁃legged robot has strong stability,fast walking performance and it can walk on rug⁃ged road surface.It has low cost and a good market prospect.