【正文】 參考文獻(xiàn)1. 崔海萍，閆軍. Solidworks2006中文版標(biāo)準(zhǔn)實(shí)例教程. 北京：機(jī)械工業(yè)出版社. 2. 劉傳璽，齊秀麗. 機(jī)電一體化技術(shù)基礎(chǔ)及應(yīng)用. 濟(jì)南：山東大學(xué)出版社. .3. 遲冬祥，顏國(guó)正. 仿生機(jī)器人的研究狀況及其未來(lái)發(fā)展. 機(jī)器人. 2001，23(5): 4764794. 馬光. 仿生機(jī)器人的研究發(fā)展. 機(jī)器人. 2001，23(5): 4634655. 范偉，彭光正，寧汝新，柴森春. 氣動(dòng)人工肌肉驅(qū)動(dòng)器在六足步行機(jī)器人中的應(yīng)用. 機(jī)器人技術(shù)與應(yīng)用. 2003，16. 徐小云，顏國(guó)正. 六足微型機(jī)器人及其控制系統(tǒng)研究. 計(jì)算機(jī)工程. 2002，28(11): 81837. 徐小云，顏國(guó)正. 微型六足仿生機(jī)器人及其三角步態(tài)的研究. 光學(xué)精密工程. 2002，10(4): 3923968．孫恒 ，陳作模。高等教育出版社. 9．濮良貴，紀(jì)名剛。高等教育出版社. 10.《Advanced Robotics》 PREUMONTA GhuysD GhuysD 1991//02P 94194511.《IEEE Internationnal Symposium on》 Lee Bo Hee 2001//P 19591964致謝在兩個(gè)多月的設(shè)計(jì)過(guò)程中，得到了許多老師及同學(xué)們的幫助和支持。對(duì)設(shè)計(jì)中存在的問(wèn)題和不足，多次給予指正。在運(yùn)用PRO/E進(jìn)行三維建模的過(guò)程中，山東科技大學(xué)泰山科技學(xué)院機(jī)房給予了我們很大的支持和幫助。本次設(shè)計(jì)得以順利完成是與老師同學(xué)們的關(guān)心支持分不開(kāi)的，是各位老師同學(xué)團(tuán)結(jié)一心、通力合作的結(jié)果。 Figure 1： microsix foot biorobot gait diagram Robot movement began, the left and right on the 2nd leg of the four, on the 6th leg lift ready to swing forward, and three legs 1, 3, 5 in support, and support robot body to ensure that the original robot A center of gravity position in support of three legs posed by the triangle, so that robots will not fall in a stable state (see Figure 1 (a)), swinging leg 2, 4, 6 step forward (see Figure 1 (b )), With support legs 1, 3, 5 support a robot body, in a small DC motordriven belt drive mechanism and the role of ontologydriven robot, robot forward movement of the body half a step S ( Figure 1 (c)). Mobile robots in the body in place, swinging leg 2, 4, 6 down immediately, with state support so that the robot39。 (2) β 0. 5, slower mobile robot, the swing phase and a shortterm support of the overlapping process, that is, robots have six legs at the same time in the state (see Figure 2 ( b))。 Figure 2： robot triangle gait support of the swing phase microbionic foot 6foot robot trajectory of the identification Walk in the motion simulation design, if the legs are directly connected in the axisfoot track for the round. This robot39。 Figure 3： fourlink curve map 4 microbionic robot triangle gait analysis of the stability Shown 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。, C 39。of the slope , More than two straight AB and OA 39。 The coordinates 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。 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。 (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。 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