摘要
在分析虎甲虫生物原型的结构特点与运动机能的基础上,进行了六足仿生虎甲虫机器人的结构设计。根据选取的四种虎甲虫的后腿结构,给机器人腿部各关节选择合适的尺寸比例。运用Solidworks软件搭建六足仿生虎甲虫机器人的物理模型,模拟虎甲虫的身体外形结构进行躯体设计,呈细长形,六条腿在机体上的安装点近似分布在一长椭圆形上,每条腿是3个自由度的串联机构。利用ANSYS软件对机器人腿部的关键零件进行静力学分析,生成应力、应变分布图,结果证明了机器人设计的合理性。
On the basis of analyzing the body structure characteristics and motor function of the tiger beetle, have designed a tiger- beetle-like hexapod robot. According to the structure of the hind legs of the four selected tiger beetles, choose the appropriate size ratio for each leg of the robot. Builds a physical model of the tiger-beetle-like hexapod robot through using Solidworks. The body structure design of the robot is modeled on the body of the tiger beetle ,which has slender appearance ,and the install location of the six legs on the body of the robot is approximately on a long oval. Each leg is a serial mechanism, which has three degrees of freedom. Also does statics analysis of the key parts of the leg by ANSYS to gain the stress and strain chart, the results indicate that the robot mechanism design is reasonable.
作者
徐海燕
姜树海
徐振亚
吴苏杭
Xu Haiyan;Jiang Shuhai;Xu Zhenya;Wu Suhang(Institute of Intelligent Control and Robotics,Nanjing Forestry University,Nanjing 210037,China;College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)
出处
《现代制造工程》
CSCD
北大核心
2018年第11期54-59,共6页
Modern Manufacturing Engineering
基金
国家公益性行业(林业)科研专项重大项目(201404402-03)
作者简介
徐海燕，硕士研究生，主要从事机器人机构与控制研究。E—mail：15250993969@163．com;姜树海，通信作者，副教授，博士，主要从事机器人技术、智能控制技术研究。;徐振亚，硕士研究生，主要从事机器人机构与控制研究。;吴苏杭，硕士研究生，主要从事机器人控制技术研究。
