Research on miniature hexapod bio-robot and its tripod gait

XU Xiao-yun; YAN Guo-zheng; DING Guo-qing

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Research on miniature hexapod bio-robot and its tripod gait

更新时间：2020-08-12

- Research on miniature hexapod bio-robot and its tripod gait
- Optics and Precision Engineering Vol. 10, Issue 4, Pages: 392-396(2002)
- 作者机构：
  
  上海交通大学, 信息检测技术及仪器系上海,200030
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP242
- Received：17 January 2002，
  
  Revised：05 June 2002，
  
  Published Online：15 August 2002，
  
  Published：15 August 2002
- 稿件说明：
移动端阅览
徐小云, 颜国正, 丁国清. 微型六足仿生机器人及其三角步态的研究[J]. 光学精密工程, 2002,(4): 392-396

XU Xiao-yun, YAN Guo-zheng, DING Guo-qing. Research on miniature hexapod bio-robot and its tripod gait[J]. Editorial Office of Optics and Precision Engineering, 2002,(4): 392-396
徐小云, 颜国正, 丁国清. 微型六足仿生机器人及其三角步态的研究[J]. 光学精密工程, 2002,(4): 392-396 DOI：

XU Xiao-yun, YAN Guo-zheng, DING Guo-qing. Research on miniature hexapod bio-robot and its tripod gait[J]. Editorial Office of Optics and Precision Engineering, 2002,(4): 392-396 DOI：

摘要

基于仿生学原理

在分析六足昆虫运动机理的基础上

采用平面四连杆机构、蜗轮蜗杆减速机构、皮带传动机构、微型直流电机驱动和PC机控制方案

研制成一种新型"微型六足仿生机器人"

其样机外形尺寸为:长30mm

宽40mm

高20mm

重6.3g.讨论了该机器人的运动步态并分析了其运动稳定性

实验结果表明该机器人具有较好的机动性.

Abstract

Based on the principle of bionics and analysis of the movement mechanism of hexapod

a new type of miniature hexapod bio-robot was developed by using four-bar linkage

screw gearing

belt gear

driven by D.C. micromotor and controlled by PC.The external dimensions of the model machine are 30mm?40mm?20mm and its weight is 6.3 g. The robot's movement gait and the movement stability are analyzed in this paper. The experimental results show the robot has good mobility.

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references

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熊翔,颜国正,丁国清,等.基于蛇类生物的仿生变体机器人运动学研究[J].光学精密工程,2001,9(4):330-333.

徐小云,颜国正.遗传算法及其在机器人控制中的应用[J].光学精密工程,2001,9(4):334-338.

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