六足仿生机器人的运动步态研究与控制系统设计-控制理论与控制工程专业论文.docxVIP

Research Research on Movement Gait and Design of Control System for Hexapod Bionic Robot Abstract In order to avoid the喇ury of human body from bad working environment or to conduct some work which is difficult to complete．it is锄important approach to employ budging robots． Budging robots can be divided into different kinds according to the ways of moving,including wheel type budgings robot and pedran type budging mbots and multi-feet badging robots in addition to special type budging robots。in which the pod budging of multi-feet budging robot has unique advantages compared with wheel typo budging robots and pedrail type budging robots．The research on the Leg type robot has become an eye-catching one in the field of robot study for various reasoRs。Firstly,Leg type robots take on nice adaptibility to rugged mad surface|Secondly,the standing point ofI_agtypc is dispersal．The above abilities enables Leg type robots walk freely because it call choose the supporting spot strictly including in the ex仃emely anomalous吼Ⅱlacc． What is mo佗．Leg type robots can keep fuselage on possessing high stability because of the ability of in／dative separating shocks and the ability to allow the contrail of fuselage motion and the contrail offeet motion in different ways． The paper analyzes the mechanical structure ofhexapod bionic robots，then comes to locate vector expression about different gait of robots including its gait stability based on the analysis ofrobot movement g啦the layout about walking gaits in typical straight lines and swerving gaits on a specific point．At the same time，the design is based on the characteristics of computer control system and the mechanical structure and coordination of joint movements about hexapod bionic robot as well as the control requirements on accuracy．Furthermore，the paper introduces the systematic hardware circm=and software flows，conforming the movement of the gait layout of hexapod bionic robots． And by testing it in the lab，it also verifies