【正文】 1 introductionSince the invention of the wheel and human made after the car, brought to life is a great advantage. From ancient wooden wheel cart has been developed to the current all kinds of vehicles, the wheels have adopted technology. Wheels for the survival of humankind and conquering nature made a significant contribution. As human activities in space for their own development the expansion of the universe, the development of the oceans, in the absence of roads to the natural environment with wheels There are many difficulties in walking, sometimes even simply can not be moved, so the design and creation of the natural environment with a high degree of adaptability Walking on foot and the gait of research institutions bee increasingly important. From 1899 Muybridge used for photographic method of animals walking, people walking on the gait for a lot of research work, especially in the last two to three decades, on the gait of the important results are emerging [122]. In the late 1960s, because of the need for the development of walking robot, McGhee summed up in the previous gait of the animal on the basis of research results, systematically presented on the gait of a series of gait analysis and description of the strict definition of mathematics [3], to lay the gait of a more plete analysis of the mathematical basis. Gait is a walking robot to move, the leg walking robot is coordinated operation of law, namely, the legs and legroom Taitui order, it is the walk on a very important parameter is to ensure that agencies walk And stable operation of the very important factors. Based on the principle of bionics, the paper plane parallel use of six fourbar linkage, microDC motor and the corresponding slowdown twisting bodies has been developed by small size, has good mobility, flexibility and strong ability to adapt to the environment of microsix foot Biorobot. The robot long as 30 mm, width of 40 mm, high for 20 mm, weighing about 6. 3g. This footmobile microrobot equipped with sensors and the corresponding plant, can be used for industrial and agricultural production in many areas (such as the nuclear industry in detecting cracks in pipelines, industrial and agricultural equipment detection and repair, etc.). 2 microsix foot biorobot movement principles of the triangle gait gait of the robot is six foot two legs (one side of the body before the foot after foot and in the other side of the foot), in support of the three legs of the triangle on the action exactly the same, both in the swing or are in a phase Support phase. Six Foot program, insects (roaches, ants, etc.) in the flat on the ground quickly and unhindered access of the road, more than gait to the turn of the campaign, that is, when walking in the six foot divided into two groups, to one side of the body Foot before and after foot and in the other side of the foot as a group to form a stable tripod support worms, at the same time a group of only 103 feet from walking the role: the former Zuyong claws fixed object ahead after pulling worms , In Zuyong to support and raise their side of the body, while promoting the worm after foot forward, while making the worm turn and walking forward and slightly outward worms turn, three feet at the same time, and then with another Group 3 feet alternately, two full swing and so on to support, thus realizing the rapid movement of insects, walking the track line is a Juchi Zhuang curve. Robot used gait indicate the movement as shown in Figure 1: 在程序安裝、軟件應(yīng)用等方面都為我們提供了很大的方便，在此一并表示衷心的感謝。同時(shí)為此次設(shè)計(jì)提供了大量翔實(shí)可靠的技術(shù)資料供我們學(xué)習(xí)參考，在此表示深深的敬意和感謝。孟娜老師對我們在設(shè)計(jì)中遇到的各種難題，給予了耐心細(xì)致的講解。機(jī)械設(shè)計(jì)（第七版）。機(jī)械原理（第六版）。 在設(shè)計(jì)過程中我得到了老師和同學(xué)的巨大的幫助，在這要謝謝他們并把最美的祝福送給他們，希望他們的未來會更加的美好。確定機(jī)器人運(yùn)動方案，包括腿的數(shù)目，機(jī)器人的步態(tài)分析。仿生機(jī)器人的設(shè)計(jì)融合了機(jī)械原理、機(jī)械設(shè)計(jì)、動力學(xué)等專業(yè)課程還包括高等物理中的力學(xué)分析等普通課程，在設(shè)計(jì)軟件方面我們采用的是AutoCAD 和 Pro/E軟件。這不僅提高了我們的設(shè)計(jì)能力和動手水平。整個(gè)系統(tǒng)的設(shè)計(jì)過程不僅是對自己設(shè)計(jì)水平和實(shí)踐能力的一次大查閱，通過設(shè)計(jì)，也學(xué)習(xí)并熟悉了開發(fā)機(jī)電一體化系統(tǒng)所必需的流程。（2） 設(shè)計(jì)過程中要考慮加工問題，以及可裝配性問題，尤其是圖紙，作為機(jī)械工程師的語言，圖紙一定要符合國際標(biāo)準(zhǔn)，高質(zhì)量的圖紙是設(shè)計(jì)實(shí)現(xiàn)的基本特征，作圖時(shí)要注意基準(zhǔn)統(tǒng)一，加工工藝性，形位公差的實(shí)現(xiàn)等。該機(jī)器人設(shè)計(jì)中采用永磁步進(jìn)電機(jī)，但電機(jī)外形遲遲沒有定下來，而電機(jī)對于這種小型機(jī)器人的設(shè)計(jì)又有重要影響。另外身體外圍還要開槽，是為了步進(jìn)電機(jī)輸出線連到從機(jī)驅(qū)動板上；頂板通過螺釘連接到身體上。從機(jī)插板的板邊為210mm60mm，可以放進(jìn)身體內(nèi)，12片從機(jī)驅(qū)動板并排插在上面。腿部模塊通過螺釘連接到身體上，采用三角形或?qū)蔷€形狀的布置，這樣可以防止腿部模塊的晃動，腿部模塊起著支撐身體的作用，必須解決好這個(gè)問題。主機(jī)電路板的板邊要小于頂板的寬度，模板的設(shè)計(jì)尺寸260mm80mm，保證電路板，腿部模塊正確安裝。機(jī)器人腿部機(jī)構(gòu)的設(shè)計(jì)經(jīng)歷了多次改進(jìn)，由簡單到復(fù)雜，才逐漸從設(shè)想變?yōu)楝F(xiàn)實(shí)，從軸鍵連接到鈑金件設(shè)計(jì)，幾乎推翻了最初的設(shè)計(jì)。2鈑金形狀可塑性好，可以容易的做出較復(fù)雜的形狀。通常用做零部件的外殼或支撐其它零件，是機(jī)械設(shè)計(jì)中常用的零件，不足之處就是鈑金比較薄，有時(shí)候難于連接。） 材料的選擇設(shè)計(jì)過程中還要在設(shè)計(jì)參數(shù)條件下盡量減小尺寸，降低質(zhì)量，所以在材料上選用的是5mm厚的鋁板做的零件。腿部機(jī)構(gòu)圖上可以看出另一個(gè)傳感的安裝，它是把旋轉(zhuǎn)臂的擺臂端削尖，只讓平行于行走方向的位置時(shí)，尖端頂住微動開關(guān)，從而找到基準(zhǔn)信號。計(jì)算結(jié)果符合設(shè)計(jì)要求。由圖示知：lAB=lCBsinθ＋lCDcosθ＋lDEsinθ其中l(wèi)AB=45mm，lCB=，lCD=，lDE=46=sinθ＋cosθ＋sinθsin(θ＋arcsinφ)= 其中sinφ=解得：θmax=176。桿２通過螺栓連接到旋轉(zhuǎn)板上，其中在板上攻螺紋。 連桿機(jī)構(gòu)圖 旋轉(zhuǎn)板上的步進(jìn)電機(jī)的輸出軸帶動連桿機(jī)構(gòu)的短桿1整周旋轉(zhuǎn)，2兩桿螺栓與3桿連接。3 結(jié)構(gòu)要盡量輕，避免因電動機(jī)功率不夠大而使機(jī)器人不能運(yùn)動。往外側(cè)擺動７０176。：M是作用在機(jī)器人上面的驅(qū)動力矩，F(xiàn)x和Fy，是地面作用于機(jī)器人支撐腿上的反作用力，g是重力加速度，l是腿（連桿）長，θ是機(jī)器人支撐腿與地面在水平方向上的夾由角，此得出下式 （1）式中：代入式（1）并化簡可以得到如下式所示的機(jī)器人運(yùn)動數(shù)學(xué)模型、。則六足機(jī)器人以三角步態(tài)行走時(shí)，其最小穩(wěn)定裕量判據(jù)為：d= min(d1,d2,d3)由于本文所設(shè)計(jì)的機(jī)器人采用三角步態(tài)，在任何時(shí)刻，同組的三條腿一起運(yùn)動，三條腿的動作幾乎完全一致，可以等效為一條腿。直線AB的方程為： 三角步態(tài)穩(wěn)定裕量計(jì)算圖斜率 則直線OA’的斜率 其直線方程為： ，以上兩直線AB和OA‘的交點(diǎn)A’的坐標(biāo)為 式中d2AB是線段AB距離的平方。三角形ABC是由三條支撐腿所構(gòu)成的一組支撐三角形。自由度計(jì)算公式：　　　　　　　　　Ｆ＝3n－（２PL+PN） 式中：　　n　活動構(gòu)件數(shù)目　　　　　　　?。校獭〉透睌?shù)目　 　　　?。校巍「吒睌?shù)目本機(jī)構(gòu)中，活動構(gòu)件n=３n機(jī)構(gòu)自由度：?。疲剑常常ǎ玻矗埃剑痹撍臈U機(jī)構(gòu)能夠?qū)崿F(xiàn)自身的運(yùn)動，只要各項(xiàng)指標(biāo)達(dá)到設(shè)計(jì)要求，應(yīng)該能夠?qū)崿F(xiàn)設(shè)計(jì)的運(yùn)動。：步長：步高：旋轉(zhuǎn)臂距地面：　　　　　　　　　　　僅驗(yàn)算參數(shù)２，但腿向正前方伸直時(shí)：（２３+３６）+１２+５８+２０≤１１５ ,20mm是伸出臂的寬度。左右時(shí)，Ｅ點(diǎn)走近似直線軌跡。從角度對照表和上圖的兩視圖可以看出，當(dāng)Ｄ點(diǎn)在做直線運(yùn)動時(shí)，Ｅ點(diǎn)有復(fù)現(xiàn)軌跡的趨勢。主要是DE越長，E點(diǎn)就越不能復(fù)現(xiàn)D點(diǎn)的軌跡。 但此設(shè)計(jì)有一點(diǎn)不好，就是身體離地面太近，很難實(shí)現(xiàn)一些跨越障礙的要求，于是就想到增加DE部分的長度。330176。300176。270176。240176。210176。180176。165176。150176。135176。120176。105176。90176。75176。60176。45176。30176。15176。 　軌跡１　　其中AB : BC : CD : DE: CO = : 1 : 1 : 2 : 1　軌跡2角度對照表：１桿的旋轉(zhuǎn)角度（極坐標(biāo)） ４桿的順時(shí)針旋轉(zhuǎn)角度0176。是根據(jù)運(yùn)動學(xué)仿真和作圖結(jié)果決定的，不一定是最優(yōu)的但也提供一種思路。并且通過控制還可以實(shí)現(xiàn)平穩(wěn)的勻速運(yùn)動。 通過以上分析可