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基于螃蟹的结构特性,运用仿生学原理设计了一款由八只足和两只钳螯组成的仿生螃蟹机器人。控制行走步进电机驱动齿轮曲柄摇杆机构实现螃蟹机器人的横向行走、转向等基本动作,控制升降步进电机驱动齿轮齿条机构实现钳螯的升降,控制摆动舵机实现钳螯的左右摆动,控制抓取舵机驱动两不完全齿轮双摇杆机构实现钳螯的抓取。该仿生螃蟹机器人传动灵活、动力传递效率高、维修方便,有很好的路况适应能力。该机器人在复杂路况下进行搜救与探测等方面,具有较好的应用潜力。本文为极端环境下的多足仿生探测机器人的传动设计提供了借鉴和参考。
Based on the structural characteristics of crabs, a biomimetic crab robot consisting of eight feet and two clamps was designed using the bionics principle. Control walking stepper motor drive gear crank rocker mechanism to achieve the crab robot horizontal walking, steering and other basic movements, control the elevator stepper motor drive rack and pinion mechanism to achieve the lifting clamp, control the swing servo to achieve the right and left clamp clamp swing, Control grab steering gear drive two incomplete gear double rocker mechanism to achieve clamp claw crawl. The bionic crab robot transmission flexible, high power transmission efficiency, easy maintenance, there is a good road capacity to adapt. The robot has good application potential in search, rescue and exploration under complex road conditions. This paper provides a reference for the transmission design of the multi-arm bionic robot in the extreme environment.