双足仿生机器人设计与制作——机械结构设计双足仿生机器人设计与制作——机械结构设计摘 要随着时代的发展，人们的生活节奏越来越快，对工作的效率更是越来越重视，而且如今的科技也在飞速发展中，所以机器人在未来人类生活中发挥着重要的作用，是我们的好帮手，它可以改善我们生活的质量，提高我们的工作效率，从而推动生产力的提高和整个社会的进步。目前，国内外对仿生机器人的研究重视程度很高，而在仿生机器人研究领域中，双足仿生机器人是一个重要的研究课题，而且我认为它的研究价值要比轮式机器人或其他足式机器人的高。本设计为结构简单、成本低廉、可操作性高的小型双足仿生机器人，通过仿人的腿部关节和预先设定的目标来进行自由度的分配，根据设计任务来选择驱动元件，进而通过SOLIDWORKS 软件进行机械结构的三维造型设计，并且对机器人的关键零件进行有限元分析。并且根据 D-H 参数法来建立运动学方程，从而进行正运动学分析。最后设计出一个可以实现前进后退、左移右移、踏步、鞠躬、超声波避障等功能的小型双足仿生机器人。关键词：小型双足仿生机器人；机械结构；三维造型；运动学分析；有限元分析 Design and manufacture of biped bionic robot -- mechanical structure designAbstractAlong with the development of The Times, the pace of life of people more and more fast, working efficiency is more and more attention, and now also in the rapid development of science and technology, so the robot in the future play an important role in human life, is our good helper, it can improve the quality of our life, improve our work efficiency, so as to promote the improvement of productivity and the progress of the society as a whole. At present, the research of bionic robot is highly valued at home and abroad. In the field of bionic robot research, bipedal bionic robot is an important research topic, and I think its research value is higher than that of wheeled robot or other foot robot.This design is a small bipedal bionic robot with simple structure, low cost and high maneuverability. It di...
