一种多关节仿生变色龙机器人设计

A Design of a Multi-joint Bionic Chameleon Robot

以变色龙为研究原型,制作一个模仿变色龙爬行、变色的四足机器人。为解决机器人爬行的问题,通过Arduino控制变色龙机器人行进,分析蜥蜴类爬行动物的步态以及结合四足机器人行进的稳定裕度,规划出一套机器人步态。基于SolidWorks软件建模,设计机器人机械结构,利用3D打印将零件打印出来,再将打印零件组装成变色龙机器人。为解决机器人的摆尾机械结构问题,通过齿轮结构,构造出傅里叶摆尾,详细地对机器人摆尾的齿轮运作原理和齿轮运动轨迹的进行数学分析;在介绍稳定裕度的同时分析机器人在各种步态情况下稳定裕度。从电路控制、结构设计、数学分析、步态模拟分析、样机试验等方面设计出一个可灵活爬行、在各方面领域有着广阔应用前景的变色龙机器人。

Taking the chameleon as the research prototype,a quadruped robot that imitated the chameleon′s crawling and changing color was made.In order to solve the problem of robot crawling,the team controlled the chameleon robot through Arduino,analyzed the gait of lizard reptiles and planned a set of robot gait in combination with the stability margin of quadruped robot.Based on SolidWorks software modeling,the mechanical structure of the robot was designed,the parts were printed by 3D printing,and then the printed parts were assembled into a chameleon robot.In order to solve the mechanical structure problem of robot tail swing,Fourier tail swing was constructed through gear structure.A mathematical analysis of the gear operation principle and gear trajectory of robot tail swing were made in detail.While introducing the stability margin,stability margin of the robot under various gait conditions were analyzed.From the aspects of circuit control,structure design,mathematical analysis,gait simulation analysis,prototype test,etc.,a chameleon robot that can crawl flexibly and has broad application prospects in various fields has been designed.