下载后可任意编辑 摘 要 四足机器人作为仿生机器人的一种，得到了广泛的讨论。行走机构和转弯机构是四足机器人最关键的部分，目前，行走机构的讨论大多采纳在腿机构的关节处安装伺服电机进行驱动，增加了机器人的重量和控制策略的难度。并且，机器人本体大多是一个刚性整体，转弯机构讨论不足。为此，项目将四足机器人本体作为一个柔性整体，采纳三维建模软件 Pro/E4.0 设计了四足机器人的机械系统，提出了一种新颖的凸轮控制驱动式行走机构，设计了一种腿机构以及相应的凸轮控制驱动机构，并初步设计了柔性转弯机构。在此基础上，论文采纳主从式控制方式设计了四足机器人的控制系统，重点讨论了以 8051 单片机为控制器的行走机构和转向机构的控制系统设计。关键词：四足机器人；行走机构；凸轮驱动；控制系统；三维设计AbstractQuadruped robot as one of biomimetic robots, has been extensively studied. Travel agencies and institutions is a quadruped robot turning the key, At the present, servo motor is installed in the leg joints of the most travel agencies, increasing the weight of the robot and the difficulty of the control system strategy . And most of the robot is a rigid body as a whole, and the research of the turning institutions is not fully studied . For this purpose, the project will take four-legged robot whole body as a flexible rigid body, and three-dimensional modeling software Pro/E4.0 is used for designing quadruped robot mechanical systems, a new travel agency based on cam control drive is proposed , a kind of leg mechanism and control of the corresponding cam drive mechanism is designed, and a flexible turning institution is preliminary designed. Based on this work, the control system of the robot was designed. Especially, control systems of the stepped mechanism and the wheel mechanism were analyzed detailed.Key words: quadruped robot; stepped mechanism; cam drive; control system ;three i下载后可任意编辑dimensional design;...
