【正文】 以下是昆蟲漂泊者的一些優(yōu)勢。這樣看來一四腳的——漂泊者是一好選擇。因此, 腿/輪子類型的漂泊者已經(jīng)變成我們月球探險的首選。輪子也容易陷在灰塵中。然而, 直到現(xiàn)在, 已經(jīng)成功地在行星上登陸的機器人是全部旋轉(zhuǎn)的類型。但丁和但丁 2 世有八只腿 [4] 。有輪的類型機器人包括 Gyrover[1] 的單一輪子, 四輪的RATLER[2] 和其他的輪子。一項比較的研究,立基于在敏捷, 安定和多余, 總結(jié)出六邊形機器人在建筑學(xué)上比矩形的好。 If | vl (t)||vr (t)|, then robot turns right。180 turning with the waving gait, it needs only regroup its legs and/or change the leader leg. The leader leg changes from leg 1 to leg 3 in group ‘1+3+5, 2+4+6’, the direction will change from 0 to 120( see ). In contrast, for the rectangular architecture, a special gait is required for turning action. Generally, it requires four steps for a rectangular robot to realize a turning action(see ).Compared with recetangular structure, a hexagonal chassis with a hemisphere body is better for lunar rover(Fig. 4) IV. Implementation and results Gait analysis and simulation For hexagonal hexapod robot, the wave gaits were studied mostly. However, it can have several different gaits even for straight walking. A. Wave gait Robot with wave gait () is the easiest gait to turn around. But it is very plex to control because every leg has a different gait. For the wave gait, the leg’s structure is as in Fig. 6. There are two revolute joints along axes Y, one along axes Z, its foot, contacting with the ground bees a spherical joint (with three revolute freedoms). During walking, there will be three legs to support the body, and three legs wave ahead (Fig. 5). The whole body’s simple structure is as Fig. 6(b). There are 12 links, 13 revolute joints, two spherical joints in this configuration. The positon is described in a space coordinate frame. The number of degrees of freedom of the robot is puted as follows : F=12*65*123*2=6 In this case, every supporting leg has three freedoms, which makes control very plex.B. Crab gait Another gait for hexagonal robot is ‘crab gait’ or ‘kickup gait’ [8], which is a continuous gait.. Six legs are also grouped into two patterns, 1+3+5 and 2+4+6. There willbe 3 legs for supporting while three legs rise to walk ahead at every time. The track of foot is a parabola ( see ): y=ax^2+b ‘b’: is the maxmimal height that the robot’s feet can raise. While passing small obstacles, ‘b*fh’ is the height of obstacle, ‘2*sqrt(by)*fw’ is the width of obstacle, given that, ‘fh’ and ‘fw’ are factors of obstacle’s height and width, 0‘fh, fw’1. In figure 7(a), legs in solid line are in the supporting phase, legs in dashed line are in the walking phase. From simple structure (see (b)), the number of degrees of freedom of the robot is: F=3*52*6=3. From the above analysis, the crab gait is simpler than the wave gait. However, it also needs special gaits for turning. Turning To realize turning motion, there are two cases. For small angle turning, turning can be realized during walking, the robot does not need to stop. The turning angle must be less than 30 degrees to avoid walking legs colliding with supporting legs. See in . For large angle turning, three steps are needed. There are always four legs standing on the ground to support the body, and the other two legs rise to adjust direction. Fig. 9 and Fig. 10 listed the steps of 60 degrees and 90 degrees turning cases. Quadrangles in the above figures are areas of support。最后，真摯的向大家說聲：謝謝大家！參考文獻[1] 璞良貴、紀明剛.《機械設(shè)計》【M】.第七版 .北京:高等教育出版社,2001.[2] 璞良貴、紀明剛.《機械設(shè)計學(xué)習(xí)指南》【M】.北京:高等教育出版社,2000.[3] 彭文生.《機械設(shè)計》【M】.武漢:華中理工大學(xué)出版社,2001.[4] 廖念釗. 《互換性與測量技術(shù)基礎(chǔ)》【M】.北京:中國計量出版社,1995.[5] 呂仲文主編.《機械創(chuàng)新設(shè)計》【M】.北京:機械工業(yè)出版社,2004.[6] 吳宗澤主編.《機械結(jié)構(gòu)設(shè)計》【M】.北京:機械工業(yè)出版社,1988.[7] 龔天軍、賀地求、符榮華.《零件分揀機系統(tǒng)設(shè)計》【M】..[8] 林穎、曾志新、孫延.《Pro/ENGINEER快速入門及應(yīng)用》【M】.北京:電子工業(yè)出版社,2000.[9] 李希誠、李弦泊編著.《機械結(jié)構(gòu)合理設(shè)計圖冊》【M】.上海:上?？茖W(xué)技術(shù)出版社,1996.[10] 高鐘毓主編.《電子機械工程》【M】.北京：人民交通出版社,2003.[11] 凌均淑.《步進電動機的應(yīng)用及驅(qū)動方式》【J】..[12] 李忠杰、寧守信.《步進電動機應(yīng)用技術(shù)》【M】. 北京:機械工業(yè)出版社,1988.[13] 祝凌云、李斌、白雁均.《Pro/》【M】.北京:人民優(yōu)點出版社,2005.[14] 成大先.《機械設(shè)計手冊》【M】．北京：化學(xué)工業(yè)出版社，2004.[15] 盧耀祖、鄭惠強.《機械結(jié)構(gòu)設(shè)計》【M】.上海:同濟大學(xué)出版社,2004.[16] 鐘肇新、范建東編著《可編程控制器原理及應(yīng)用》【M】.廣州：華南理工大學(xué)出版社 2008. [17] 王先逵主編《機械裝配工藝》【M】.北京：機械工業(yè)出版社， 2008.附 錄 Structure Design and Lootion Analysis of a Novel Robot for Lunar Exploration Abstract—Two kinds of hexapod robot, for lunar exploration, are investigated: hexagonal and rectangular. Typical gaits are analyzed for these two kinds of hexapods’ lootion. A parative study, based on agility, stability and redundancy, concludes that the robot with hexagonal architecture is better than the rectangular one. Finally, simulations are done based on a novel hexagonal lunar exploration robot. Keywords: optimal design, accuracy, parallel robot I. Introduction Planetary rovers have bee a popular topic in recent years. Several types robot systems for planetary exploration have been proposed [1], wheeled types, legged types and hybrid wheel/leg types. The wheeled type robot includes the single wheel of Gyrover [1], four wheels of RATLER [2] and others. The most famous Mars Rovers, Opportunity and Spirit have six wheels [3]. The legged type includes Ambler, Dante and Dante II of Carnegie Mellon University, and many others. Both Dante and Dante II have eight legs [4]. GoFor from JPL and Chariot II from Tohoku University of Japan is a leg/wheel robot. Track 1 of VNIITRANSMASH, ANDROS Mark VA from USA and ACEC robot from ACES are pedrail robots. Other types such as hopper robot can jump forward. However, until now, the robots that have landed on planets successfully are all wheeled type. The lunar environment is very different from that on Earth. It is far from Earth, there is almost no air, the gravity on the Moon is 1/6 of that on Earth and there is a deep layer of dust on the Moon. The strong friction prevents wheels from running well. Wheels can also get stuck easily in dust. The legtype robot is more agile than wheeltype robot。 其次要感謝和我一起作畢業(yè)設(shè)計的各位同學(xué)，是他們在本次設(shè)計幫我克服了許多困難，教我怎么把學(xué)到的基礎(chǔ)理論知識有機的聯(lián)系到一塊。 在這里首