多足机器人的设计及实验研究

Design and Experimental Study of Multi-legged Robots

为了满足复杂地形下的特殊作业需求,设计了一种适用于非结构环境的六足移动机器人,包括沙地、凹凸路面和楼梯等。首先进行了整机结构设计,并使用UG NX软件进行原理样机的三维建模,随后开展了实物样机的研制,并进行了步态规划,最后通过实验探究了该机器人在路径规划、协调步态生成和爬坡负载等多个方面的能力。该六足移动机器人适用于电力/工厂巡检与作业、野外抢险搜救,以及特殊环境科考等典型非结构化复杂环境。

To meet the demands of special operations in complex terrains,this paper designs a six-legged mobile robot suitable for non-structured environments,including sand,rough roads,and stairs.We design the structure of the whole robot,and use UG NX software to establish the 3D modeling of the principle prototype.The physical prototype is developed and gait planning is performed.Experiments are conducted to explore the capabilities of the robot in various aspects such as path planning,coordinated gait generation and climbing loads.The six-legged mobile robot is suitable for typical non-structured complex terrains such as power/factory inspection and operation,wilderness rescue and search,and special environmental exploration.