竞赛用双足直立机器人的设计及制作

Design Analysis and Fabrication of Bipedal Upright Robot for Competition

以双足竞步机器人舵机的联动控制为基础,在研究人类行走、翻跟斗、立正等动作时每个关节所摆动的角度后,结合SolidWorks运动仿真分析对机器人的行走步态进行简单规划,最终设计开发了一种结构模型,并以此为基础进行调试,分别设计出能够实现站立、行走、翻滚等一系列仿人形动作的程序,后将设计好的程序应用于实验样机,检验验证了程序设计的可行性和合理性。

Based on the linkage control of the biped racing robot’s steering gear, after studying the swing angle of each joint during human walking, heeling, standing up and other actions, this paper combines Solidworks motion simulation analysis to make a simple plan for the robot’s walking gait. In the end, a structural model is designed and developed, and debugging is carried out on this basis, and a series of humanoid action programs that can realize standing, walking, rolling, etc. are designed respectively, and the designed programs are run in the experimental prototype to verify the feasibility and rationality of the program design.