机械仿生螳螂的设计与实现

Design and Implementation of Mechanical Bionic Mantis

根据螳螂形态的运动特点,我们研发了一款螳螂仿生机械,并在它的样机中,我们选择STM32F103C8T6单片机作为主控制器,选择5个SPT5535LV-360舵机、6个RDS3235舵机和2个DS3230舵机作为动力输出,选择4个WDD35D4角度传感器反馈足部机构的角度信息。在中后足与躯干主体连接处,采用切比雪夫连杆机构(D型机构)进行传动输出,并以此模仿螳螂足部的运动状态。根据样机的实验数据,我们的设计方案具有较好的形态模拟和动力输出特性。所以,在机械仿生的教学演示等场景中,我们的设计具有较好的研发意义。

According to the motion characteristics of the mantis form,we developed a mantis bionic machinery and in its prototype,we choose STM32F103C8T6 microcontroller as the main controller,five SPT5535LV-360 servos,six RDS3235 servos and two DS3230 servos as the power output,and four WDD35D4 angle sensors to feedback the foot angular information of the mechanism.The Chebyshev linkage mechanism(D-type mechanism)was used for transmission output at the connection between the middle and hind feet and the main body of the torso,and this imitated the motion of the mantis foot.According to the experimental data of the prototype,our design scheme has good morphological simulation and power output characteristics.Therefore,our design has good research and development significance in scenarios such as teaching demonstration of mechanical bionics.