【正文】 .........................................................2 ....................................................................................................................2 ....................................................................................................................2 ....................................................................................................................3 ............................................................................3 .................................................................................................3 .................................................................................................4 .....................................................................................................5 ....................................................................................................................5 ....................................................................................................5 .........................................................................................5 計算方法 .........................................................................6 .........................................................................................................6 第二章 六足仿生機器人的步態(tài)規(guī)劃 .................................................................................7 步態(tài)分類 .....................................................................................................................7 三角步態(tài) .........................................................................................................7 跟導(dǎo)步態(tài) ..........................................................................................................7 交替步態(tài) ..........................................................................................................7 步態(tài)規(guī)劃概述 .............................................................................................................8 六足仿生機器人的坐標(biāo)含義 .....................................................................................9 三角步態(tài)的穩(wěn)定性分析 ..........................................................................................12 穩(wěn)定性分析 ...................................................................................................12 穩(wěn)定裕量的計算 ............................................................................................12 三角步態(tài)行走步態(tài)設(shè)計 ...........................................................................................13 13 屆國際機械設(shè)計制造及其自動化專業(yè)課程設(shè)計（論文） 3 直線行走步態(tài)規(guī)劃 ....................................................................................... 13 轉(zhuǎn)彎步態(tài)分析 ............................................................................................... 15 六足機器人的步長設(shè)計 .......................................................................................... 15 六足機器人著地點的優(yōu)化 ...................................................................................... 16 第三章 六足機器人的機構(gòu)分析 ....................................................................................... 18 四連桿機構(gòu)的設(shè)計 .................................................................................................. 18 理論根據(jù)與機構(gòu)選擇 ................................................................................... 18 設(shè)計參數(shù) .................................................................................................................. 21 步行腿機構(gòu)系統(tǒng) ...................................................................................................... 21 舵機驅(qū)動原理 ......................................................................................................... 22 驅(qū)動原理 ....................................................................................................... 22 舵機控制方法 ............................................................................................ 22 六足機器人主體設(shè)計 ............................................................................................. 24 機身 .............................................................................................................. 24 腿部的設(shè)計 ................................................................................................... 25 足 ................................................................................................................... 25 小腿 ............................................................................................................... 26 大腿 ............................................................................................................... 27 第四章 總結(jié) ....................................................................................................................... 28 ..................................................................................................