机电工程技术2026，Vol.55Issue(14)：45-49,79,6.DOI:10.3969/j.issn.1009-9492.2026.14.007
仿生螃蟹机器人结构设计与运动仿真
Structure Design and Motion Simulation of Bionic Crab Robot
摘要
Abstract
To enhance the adaptability of robots on various terrains,a bionic crab robot is simulated and designed by taking crabs as the research object.A gear-crank-rocker mechanism is adopted to simulate the eight-legged crawling of crabs.Crabs have eight crab legs.If each crab leg are controlled by a motor,the control difficulty and cost would increase significantly.Therefore,only two motors are used to drive the mechanism,and complex functions are achieved through simple mechanical transmission.The leg structure of the bionic crab robot is analyzed,and a kinematic analysis model is established using the complex vector method to describe the leg movement trajectory.The bionic crab robot is modeled using SolidWorks software,and its built-in motion plugin is used to conduct motion simulation on the leg structure and the whole robot.The analysis showed that the movement trajectory of the crab leg landing points followed a fixed curve pattern in a cyclic motion,with smooth velocity and acceleration curves.The trajectory,velocity,and acceleration curves of the entire machine moving on the ground changed periodically,and the range of the center of gravity position variation is within 12 mm,verifying the movement stability and reliability of the crab robot.The components of the crab robot are manufactured using 3D printing,and a physical prototype is assembled to ensure the feasibility of the design.关键词
仿生螃蟹机器人/结构设计/运动仿真/3D打印Key words
bionic crab robot/connecting rod mechanism/motion simulation/3D printing分类
信息技术与安全科学引用本文复制引用
茅青海,陈文钊,胡舒怀,廖望,温顺,智常建..仿生螃蟹机器人结构设计与运动仿真[J].机电工程技术,2026,55(14):45-49,79,6.基金项目
东华理工大学博士启动基金(1410001029) （1410001029）
大学生创新创业训练计划(S202410405022) （S202410405022）
