一种多用途仿生六足机器人的设计与实现

Design and Implemitation of a Multi-purpose Bionic Hexapod Robot

由于技术难度大、硬件成本高以及控制算法复杂等因素,六足机器人在小型服务机器人领域的应用受到限制。针对这一问题,采用平行多层结构设计、高扭矩舵机驱动和模块化硬件设计等方法,给出一种紧凑、易扩展和低成本的仿生六足机器人实例,满足巡检、公众服务和实验教具等多用途需求。机械系统采用单足串联3自由度结构,椭圆布置的机体结构以及稳定的三角步态。通过单足简化模型,进行足端点受力分析,计算出需要的关节驱动扭矩,确定舵机选型。利用D-H参数法建立单足的运动学方程,计算出足端点坐标变换与关节转角的对应式。控制系统硬件单元采用7大模块,给出硬件的选型和电路设计。控制系统软件单元包括上位机和下位机程序,通过微控制器程序流程图详细阐述了六足机器人运动解算过程的实现。最后,根据软、硬件调试完成舵机补偿与功能测试,完成多用途仿生六足机器人的运动优化与开发。

Although hexapod robots perform very well in terms of road adaptability,self-repairing,high dexterity,and stability,their use in the field of small service robots is restricted by the high technical difficulties,high hardware costs,and complex control algorithms.To address this issue,a parallel multilayer structural design,high-torque servo drive,and modular hardware design were used to present a compact,readily scalable,and low-cost bionic hexapod robot that meets the multi-purpose requirements of inspection,public service,and experimental teaching aids.The mechanical system employed a single-foot with series-connected 3-degree-of-freedom structure,an oval-arranged body structure,and a stable triangular gait.The force analysis of the foot endpoints was performed by using a simplified model of a monopod to compute the needed joint driving torque and then select the steering engine.The monopod s kinematic equation was established by using the D-H parametric technique,and the corresponding formula between the coordinate transformation of foot endpoint and the joint rotation angles was calculated.The hardware unit of the control system was composed of 7 modules,and the hardware selection and circuit design were further crrried out.The software unit of the control system included the upper computer and the lower computer program.The realization of the motion solving process of the hexapod robot was explained in detail through the microcontroller program flow chart.Finally,according to the software and hardware debugging,the compensation and function test of the steering gear were completed,and the motion optimization and development of the multi-purpose bionic hexapod robot were finished.