一种基于连杆机构的仿生四足爬壁机器人设计

文章通过研究壁虎(gecko)的足部结构、身体构造以及运动方式,设计了一款基于切比雪夫连杆机构的仿生四足爬壁机器人,该机器人采用对角步态的运动方式,在机器人足部使用了一种双晶片驱动器来模拟壁虎脚趾的内翻-外翻动作,可以保护机器人吸附结构。文章设计的基于连杆机构的仿生四足爬壁机器人较现有的仿生四足爬壁机器人的结构更为精简,且运动可靠,控制简单,可以为仿生四足爬壁机器人的研究提供一些参考。

This paper designs a bionic quadruped wall-climbing robot based on the Chebyshev linkage mechanism by studying the foot structure,body structure and motion mode of the gecko.The robot adopts a diagonal gait motion mode.The foot uses a kind of soft bimorph actuator to simulate the inversion-eversion mechanism of the gecko's toes,which can protect the robot's adsorption structure.The bionic quadruped wall-climbing robot based on the linkage mechanism designed in this paper is more streamlined than the existing bionic quadruped wall-climbing robot,and it also has reliable motion and simple control,which can provide some references for the research of bionic quadruped wall-climbing robot.