基于斯蒂芬森六杆机构的六足机器人设计与分析

为减少六足爬行机器人运动过程中不必要的能量消耗,选择半圆形轨迹作为六足机器人的足端轨迹,采用了斯蒂芬森六杆机构加以实现,进行了机器人整体机构的设计及运动学分析。实验表明该机器人行走稳定,控制简单,具有良好的机动能力,同时机器人运动过程中无起伏现象,势能消耗相对非半圆形轨迹少。

Design and Analysis of Six-legged Robot Based on Stephenson Six-bar Linkage

In order to save the energy during the movement of robot,the paper chose half-circle trace as the foot trace of the robot and STEPHENSON six bar linkage to realize the trace.The whole structure of robot was also designed and its kinematics was analyzed.Finally an experiment was conducted and the results showed that the robot could move stably,had simple control system and good mobility.In addition,less energy was exhaused with the half-circle trace because there wasn＇t fluctuation during the movement of the robot.