毕业设计说明书 作 者： 学 号： 系： 机械工程学院专业： 机械设计制造及其自动化题 目： 四足仿生移动机器人结构设计 指导者： 副教授 评阅者： 毕业设计（论文）外文摘要 毕业设计（论文）外文摘要 四足仿生移动机器人结构设计 摘要： 本设计为四足仿生移动机器人，远程遥控并能全自主自动动作。它包含机体、由伺服电机带动腿结构，机体上装有控制装置，腿结构分为髋关节、大腿长、膝关节、小腿关节、足端，经过四个伺服电机控制四自由度变量，从而实现机器人仿生移动。该移动机器人能适应比较复杂且不可预测非结构环境, 在确保足够强度、刚度条件下，对整体质量要加以限制，以降低驱动源动力消耗，使机器人轻便灵活。设计机身总重15KG，实行轻而且坚固LY2硬质铝合金作为腿结构材料，平均机动速度≥0.4m/s，机构本身共12个自由度，运动灵活，越障性和环境适应性较强，在执行星球探测、战场侦察、排爆、灾难救援等较复杂高危环境中应用性很强。 关键词： 机器人 四足 仿生 带传动 Title ：The Quadruped Mobile Robot Structure Design Abstract: The design is the quadruped mobile robot, it can be controlled remotely and have actions autonomously . It includes a leg structured on body, driven by servo motors, and a control device on the body, leg structure is divided into the hip, thigh, knee, ankle joint, foot, control four degree of freedom variables by four servo motors, so as to realize the bionic robot move. The mobile robot can adapt to complex and unpredictable unstructured environment. In the condition of ensuring sufficient strength, stiffness, the overall quality should be restricted, in order to reduce the driving sources consumption, which makes the robot flexible design. The weight of body is 15KG, using LY2 hard aluminum alloy which is light and strong as the leg structural materials, the average mobile speed is designed greater than or equal to 0.4m/s, the agency itself consists of 12 degrees of freedom, it can move flexibly, and have strong ob...
