基于STM32的六足仿生机器人设计

基于 STM32 的六足仿生机器人设计——机械结构设计 基于 STM32 的六足仿生机器人设计——机械结构设计摘 要在各种地形方面，相较于履带式移动机器人和轮式一定机器人，足式机器人对复杂的地形有着更好的适应性，并且这种足式设计可以协助甚至代替人类进行复杂、危险的各种工作。为适应更多的地形，六足仿生机器人便需要更为复杂、精妙的机械结构。本次毕业设计着眼于六足仿生机器人的机械结构设计，其中包括机器人的自由度分析，腿部关节设计，机器人材料、电机、传感器选型。本次设计过程借助北京理工大学珠海学院 2020 届本科生毕业毕业设计SolidWorks 软件进行机械结构的绘制，并使用 ABAQUS 进行有限元分析（FEA），以得出最稳定可靠的六足仿生机器人结构。最终设计出一个可以投入生产并进行编程的六足仿生机器人，从而可以应用到人类生活中短途货物运输等领域，为人类的生活带来更多便捷。 关键词：六足仿生机器人；SolidWorks；ABAQUS；有限元分析；机械结构Design of Hexapod Robot Based on STM32 - Mechanical DesignAbstract Compared to wheeled robots and tracked robots, hexapod robots can adapt well to more complex terrains, and they can also assist even replace human work which is complex and dangerous. To adapt to more terrain, it is required that hexapod robots should be designed with more complex and sophisticated mechanical structures. The graduation design focuses on the mechanical structure of the hexapod robot, which includes the robot's freedom, joint, material, servo motors and sensors. In the project, I made use of SolidWorks, a solid modeling CAD and CAE computer program, to design the hexapod robot. And I used ABAQUS for Finite Element Analysis (FEA) to get the most stable and reliable structure of hexapod robot. Finally, we made a hexapod robot which can be put into production and programmed, so that it can be applied to human’s life when we need to transport goods in a short-distance. And bring more convenience to human life.北京理工大学珠海...