六腳機(jī)器人的設(shè)計(jì)畢業(yè)論文-展示頁
2025-07-01 20:14本頁面
【正文】 機(jī)器人的需求，日趨廣泛而深入。理論上，足式機(jī)器人具有比輪式機(jī)器人更加卓越的應(yīng)對(duì)復(fù)雜地形的能力，因而被給予了巨大的關(guān)注，但到目前為止，由于自適應(yīng)步行控制算法匱乏等原因，足式移動(dòng)方式在許多實(shí)際應(yīng)用中還無法付諸實(shí)踐。因此，將多足昆蟲的行為學(xué)研究成果，融入到步行機(jī)器人的結(jié)構(gòu)設(shè)計(jì)與控制中，開發(fā)具有卓越移動(dòng)能力的六足仿生機(jī)器人，對(duì)于足式移動(dòng)機(jī)器人技術(shù)的研究與應(yīng)用具有重要的理論和現(xiàn)實(shí)意義。關(guān)鍵詞：六足機(jī)器人，適應(yīng)能力強(qiáng)，結(jié)構(gòu)設(shè)計(jì)AbstractWith the increasingly rapid step of human exploration of nature, the demand for robots with autonomous mobility under plex environment has been getting broader and deeper in more and more application areas. Theoretically, legged robot offers more superior performance of dealing with plicated terrain conditions than that provided by wheeled robot and therefore has been given great concern, however up to now, for the reason of absence of adaptive walk control algorithm, legged lootion means still could not be put into practice in many practical applications yet. While on the other hand, as the most successful moving creature on the earth, multilegged insect has facilely managed to surmount various plex natural landforms and even to walk upside down on smooth surfaces by right of its sophisticated limb structure and dexterous lootion control strategies. Accordingly, it contains great theoretical and practical significance for the research and application of legged mobile robotics to blend the behavioral research effort of multilegged insect into the mechanical design and control of walking robot and furthermore to develop hexapod biomimetic robots with more superexcellent mobility. Hexapod robots have strong abilities to adapt the terrain, and have redundancy in the legs, so they can go on carrying out jobs in the case of losing some legs. They are suit for tasks which have strict demands for independency and reliability such as spying in the wild, searching underwater and exploring the outer space. Key words: Hexapod robot, strong abilities，mechanical design目 錄摘要 Abstract 第一章 緒論 ………………………………………………………1 …………………………………………………………1 …………………………………………………………4 ………………………………………………………………………4 ………………………………………………………………………7 ………………………………………………8第二章 六足機(jī)器人的機(jī)械結(jié)構(gòu) …………………………………………………………… 10 ………………………………………………………………………… 10（埃萬斯機(jī)構(gòu)）…………………………………………………………11 ……………………………………………………………………………11 ……………………………………………………………………………12 ………………………………………………………12 …………………………………………………………………………12 …………………………………………………………………………13 …………………………………………………………………………13 ……………………………………………………………………………13………………………………………………………………15 …………………………………………………………………………17 …………………………………………………………………………17 ………………………………………………………………………17…………………………………………………………………18 D－H坐標(biāo)系的建立 ………………………………………………………………18 ………………………………………………………………………19第三章 三維模型的建立 ……………………………………………………21 Solidworks軟件介紹 ………………………………………………………………21……………………………………………………………………………………22…………………………………………………………………………………23第四章 總結(jié)與展望 …………………………………………………………………………………28 …………………………………………………………………………………28參考文獻(xiàn) ………………………………………………………………………………29致 謝……………………………………………………………………………………30第一章 緒論 六足步行機(jī)器人的介紹及背景目前，用于在人類不宜、不便或不能進(jìn)入的地域進(jìn)行獨(dú)立探測(cè)的機(jī)器人主要分兩種，一種是由輪子驅(qū)動(dòng)的輪行機(jī)器人，另一種是基于仿生學(xué)的步行機(jī)器人。因此多足步行機(jī)器人有廣闊的應(yīng)用前景，如軍事偵察、礦山開采、核能工業(yè)、星球探測(cè)、消防及營救、建筑業(yè)等領(lǐng)域。在眾多步行機(jī)器人中，模仿昆蟲以及其他節(jié)肢動(dòng)物們的肢體結(jié)構(gòu)和運(yùn)動(dòng)控制策略而創(chuàng)造出的六足機(jī)器人是極具代表性的一種。國內(nèi)外對(duì)六足機(jī)器人進(jìn)行了廣泛的研究，現(xiàn)在已有70多種
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