【正文】 in Figure 4: Point A, B, C respectively, is six foot robot Qiantui the left and right in the leg, left hind legs on the ground of support points. ABC is the triangle support from the three legs posed by a group of support triangle. Robot body from the center to coordinate origin O, Y direction for the robot is the way forward, a strong point A, B, C respectively, the level of coordinates A (xA, yA), B (xB, yB), C (X C, yC), z coordinates of the points are the same, point A 39。, B39。, C 39。is the robot center of gravity to support each side of the triangle Chuizu points, d1, d2, d3 is the center of gravity to each side of the corresponding The distance. Line AB of the equation: Figure gait stability margin in terms of plansSlope: Is a straight line OA 39。of the slope Its linear equation: , More than two straight AB and OA 39。intersection A39。 The coordinates D2AB inline AB is the square of distance. Line OA 39。long: Similarly available d2, d3. Sixlegged robot to the Triangle walking gait, their smallest margin stability criterion: d = min (d1, d2, d3) 5 feet 6 microbionic robot39。s drive and control microsix foot biorobot motor drive circuit In this paper, the design of microbionic six foot robot driver using the Japanese manufacturer of small DC motor drive, control programme using a PC + control box direct control. Motor drive circuit by the serial interface, serial parallel converters, 74 LS373 latch, DAC0832, integrated operational amplifier ponent, as shown in Figure 5. Figure 5： electric drive circuit schematics Used as a serial data munication lines, will be part of the process control instructions into a series of binary output, a serial parallel converters for the change required by the parallel digital signal. Digital signal 74 LS373 latch latch, making control signals before the arrival of the next orders to remain unchanged. DAC0832 latch signal as the digital signal input, DAC0832 use of internal puter power standards (177。 5V) as a reference power, will convert digital signals to analog signals. In order to ensure the motordriven power, the analog signal output by adding more puting power amplifier to enlarge the position of the DC motor to provide the current and voltage used by the DAC0832 analog output voltage directdrive. At this point, will be controlled from the control signals, the string parallel conversion, digitaltoanalog converter, the power amplifier to drive motor, thereby pleting the robot movement, the robot39。s movement direction (forward, back) from the drive voltage Polarity control. microbionic six foot robot walking speed control By the formula [6] n = Ua Ia (Ra + Rtj) / Ce φ motor speed can be seen in three ways: (1) changes in the motor terminal voltage Ua, which is changing armature supply voltage (2) Armature circuit in the serial conditioning resistance Rtj。 (3) changes in flux φ. For the second governor, how to join series resistance Rtj adjustment after the motor speed is always lower than the original, so this method will only speed to a low profile. Also when armature current Ia smaller, Rtj join the resistance after the voltage changes little, motor speed does not change, this method should not be used. The third method for governor, as armature circuit in the electrical time constant larger, this means a certain speed lags behind that of the rapid speed of the poor. In this paper, the robot designed by the first governor methods, controlled by software serial port output to a string of binary DA converters, the DA converted by the electrical voltage needed to operate the DC after the realization of the biorobot movement control . Different from the binary can be a different voltage, the robot is not the same velocity. 6 feet 6 microbionic robot experiment results and analysis According to the foregoing principles and design, produced a prototype of the biorobot, the size of its basic structure: a long 30 mm, width 40 mm, high 20 mm, re6. 3g. The biorobotkind shown in Figure 6. The prototype test results indicate that the robot stable, its walking speed to 3 mm / s, that is, per second step, but in the movement for a period of time after a short period of time stalled in situ, and the robot center of gravity is not linear trajectory similar to but Waveshaped curve, and in theory the trajectory of a certain deviation. Analysis of its causes was mainly due to (1) the pulley skid phase accumulated to a certain extent, the phase difference between the two groups is not enough 180 176。 caused by. (2) Part of the processing error in particular, the link caused by the processing error. Linkage of the processing error caused when the foot robot trajectory inconsistencies, thus leading to the road route deviation. Figure 6 ：feet 6 microbionic robot 7 Conclusion Based on the principle of bionics, six feet in the analysis of insect movement on the basis of established linkage map of the walking robot used for the fourlink plane the size of a micromotor, worm worm reducer, belt drive mechanism , The paper the development of a new type of microsix foot biorobot and the robot prototype for the experiment, the experimental results show that the robot has good mobility. The next step of work include: the drive circuit to increase the shape memory alloy wire drive circuit, the use of shape memory alloy wiredriven robot, and more plex a more flexible gait. References: [1] Song Sh M, Waldron KJ. Machines That Walk: The A daptive S uspension Vehicle [M]. The MIT Press, 1989. [2] Zhang C D. A Study of the Stability of Generalized Wave Gaits [J]. Mathematical Biosciences, 1993, 115: 1 32. [3] McGhee R B. Some Finite State Aspects of Legged Lootion [J]. Mathematical Biosciences, 1968, 2 (1 / 2):