山东科技大学学士学位论文
1 introduction
Since the invention of the wheel and human made after the car, brought to life is a great advantage. From ancient wooden wheel cart has been developed to the current all kinds of vehicles, the wheels have adopted technology. Wheels for the survival of humankind and conquering nature made a significant contribution. As human activities in space for their own development - the expansion of the universe, the development of the oceans, in the absence of roads to the natural environment with wheels There are many difficulties in walking, sometimes even simply can not be moved, so the design and creation of the natural environment with a high degree of adaptability Walking on foot and the gait of research institutions become increasingly important. From 1899 Muybridge used for photographic method of animals walking, people walking on the gait for a lot of research work, especially in the last two to three decades, on the gait of the important results are emerging [122]. In the late 1960s, because of the need for the development of walking robot, McGhee summed up in the previous gait of the animal on the basis of research results, systematically presented on the gait of a series of gait analysis and description of the strict definition of mathematics [3], to lay the gait of a more complete analysis of the mathematical basis. Gait is a walking robot to move, the leg walking robot is coordinated operation of law, namely, the legs and legroom Taitui order, it is the walk on a very important parameter is to ensure that agencies walk And stable operation of the very important factors. Based on the principle of bionics, the paper plane parallel use of six four-bar linkage, micro-DC motor and the corresponding slowdown twisting bodies has been developed by small size, has good mobility, flexibility and strong ability to adapt to the environment of \Bio-robot. \3g. This foot-mobile micro-robot equipped with sensors and the corresponding plant, can be used for industrial and agricultural production in many areas (such as the nuclear industry in
38
山东科技大学学士学位论文
detecting cracks in pipelines, industrial and agricultural equipment detection and repair, etc.).
2 micro-six foot bio-robot movement principles of the triangle gait
1.30 gait of the robot is six foot two legs (one side of the body before the foot after foot and in the other side of the foot), in support of the three legs of the triangle on the action exactly the same, both in the swing or are in a phase Support phase.
%unhindered access of the road, more than 1.30 gait to the turn of the campaign, that is, when walking in the six foot divided into two groups, to one side of the body Foot before and after foot and in the other side of the foot as a group to form a stable tripod support worms, at the same time a group of only 103 feet from walking the role: the former Zuyong claws fixed object ahead after pulling worms , In Zuyong to support and raise their side of the body, while promoting the worm after foot forward, while making the worm turn and walking forward and slightly outward worms turn, three feet at the same time, and then with another Group 3 feet alternately, two full swing and so on to support, thus realizing the rapid movement of insects, walking the track line is a Juchi Zhuang curve. Robot used 1.30 gait indicate the movement as shown in Figure 1:
39
山东科技大学学士学位论文
Figure 1： micro-six foot bio-robot 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 motor-driven belt drive mechanism and the role of ontology-driven 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 robot's center of gravity position in 2, 4, 6 by the three legs supporting a triangular stability in the region, the original support legs 1, 3, 5 have been lifted and prepared to step forward (see Figure 1 (d)), swing legs 1, 3, 5 step forward (see Figure 1 (e)), support legs 2, 4, 6 at this time Support a robot body, a body-driven robot, robot body movement forward a half step S (see Figure 1 (f)), so continuously from the gait (a), (b), ( c), (d), (e), (f), (a), cycles, the constant cycle
40
山东科技大学学士学位论文
robot movement.
3 micro 1.30 Hexapod bio-robot design gait
Walking gait is designed to achieve one of the keys to achieve the ideal walking, consider the following requirements: (1) walk a smooth, harmonious and Jintuiziru, without shaking around and before and after impact (2) joints between the body and no more The impact, particularly in the legs of the swing, contact with the ground for a soft landing, (3) to maintain the body parallel with the ground, such as sports and always, there was no obvious fluctuations, (4) swing leg stepped quickly, legs Trajectory of the sleek, joint speed and acceleration trajectory no abnormal points (5) of the Air β coefficient of reasonable value.
3.1 and leg movements of the air coefficient
Figure 2 for a walk in the cycle T Hexapod Robot swing phase and the support of the alternative process. According to β coefficient of the size of space can be divided into three situations: (1) β = 0. 5, the three legs of the swing at the same time, another three support legs lifted immediately, or any time at the same time, or only support of the swing phase ( Figure 2 (a)); (2) β> 0. 5, slower mobile robot, the swing phase and a short-term support of the overlapping process, that is, robots have six legs at the same time in the state (see Figure 2 ( b)); (3) β <0. 5, when the robot move faster, have six legs at the same time as the swing of the moment, that is, six legs in the air at the same time, in a vacant state (see Figure 2 (c)), obviously This process requires the turn of robot bodies with flexibility and absorber function, otherwise difficult to achieve. The research paper by 6 foot robot gait is β = 0. 5 when the state.
41
山东科技大学学士学位论文
Figure 2： robot triangle gait support of the swing phase
42