摘要
在对六足仿生蚂蚁的结构和运动原理分析的基础上,将每条腿3个自由度的关节式机构与昆虫式腿布置形式相结合,采用3条腿行走支撑;利用VBA和AutoCAD软件平台成功开发出可以求解最多有6条腿3个关节的仿生机器人工作空间系统;通过构建仿生蚂蚁实体结构,以实例形式分析验证了仿生机器人工作空间求解软件的正确性,为优化仿生蚂蚁乃至其他多足机器人结构提供良好的工具。
Three degree of freedom joints of each leg with hexapod leg distribution adopted after the analysis on the structure and motion theory of bionic with six legs, three legs support its body in moving process. Based on the software platforms of VBA and Auto- CAD, bionic robot working space calculation software system was obtained with the limitation of less than six legs and three joints. Example was adopted to verify the validity of bio-robot working space calculation system with the configuration of bionic ant, a better method was provided to optimize the leg structure of ant robot or other multiped robot.
出处
《机械设计》
CSCD
北大核心
2011年第4期40-45,共6页
Journal of Machine Design
关键词
仿生蚂蚁
结构
运动
工作空间求解
软件
bionic ant
structure
move
working space calculation
software
