六足步履式运载机器人的设计

The Design of a Hexapod Walking Robot Carrier

以SolidWorks为设计平台,采用轮腿式结构,根据三角步态原理,对机器人动作进行步态规划设计,设计了一款六足步履式运载机器人。将设计的模型导入MATLAB,分析该机器人在多种模式下的运动干涉与稳定性问题。结果表明,六足步履式机器人能够兼顾腿型机器人与轮式机器人的优点,具备步履式行走、轮式行走的功能,且高度可调节。

A wheel-legged hexapod walking robot carrier,whose gait was planned according to the tripod gait principle,was designed on SolidWorks platform.The designed model was imported into MATLAB to analyze the motion interference and stability of the robot in multiple modes.The results show that the carrier is capable of walking both on foot and on wheels and that its height is adjustable,retaining the advantages of both legged and wheel-legged robots.