南京林业大学学报（自然科学版）2012，Vol.36Issue(6)：115-120,6.
仿生甲虫六足机器人结构设计与步态分析
Structural design and gait analysis of hexapod bionic robot
摘要
Abstract
On the basis of analyzing the prototype characteristics of the bionic beetle biological and motor function, we have carried out a research on bionic hexapod beetle robot and designed the biological prototype of the bionic hexapod beetle robot. This paper briefly introduced the characteristics of the biological prototype of the bionic hexapod beetle robot and its motor function. Based on this, structural design and prototype of the hexapod bio-robot are designed. By u-sing the structural and functional bionic principles, the prototype was designed based on the beetle, which has six legs, and each leg has 3 degrees of freedom. When designing the robot mechanical structure, an axial symmetry of the octagonal design is used in the design of hexapod bionic robot body, and its 6 legs are evenly distributed on both sides. All joints are driven by servo motors. The components, which are used to connect joints, are the synthetic plastic that has good performance instead of mental constructional elements. It ensures the robot can imitate the way of walking insects effectively. The three-legged gait of bionic beetle robot is discussed and a detailed analysis of straight line walking gait and turning point gait is shown in this paper. The end position vector expressions of the six legs of the robot during straight walking and turning are given. SOLIDWORKS and ADAMS are used on the robot motion simulation, the results show that robot moves smoothly and meet the design requirements.关键词
仿生甲虫/六足机器人/结构设计/步态/运动仿真Key words
bionic beetle/ hexapod robot/ structure design/ gait/motion simulation分类
信息技术与安全科学引用本文复制引用
姜树海,孙培,唐晶晶,陈波..仿生甲虫六足机器人结构设计与步态分析[J].南京林业大学学报（自然科学版）,2012,36(6):115-120,6.基金项目
江苏高校优势学科建设工程资助项目(PAPD) （PAPD）
南京林业大学引进高层次归国人员及高层次人才基金项目(G2003-01) （G2003-01）
江苏省研究生科研创新计划项目(CX09S-012Z) （CX09S-012Z）
