摘要本文详细介绍了六脚爬虫机器人的机械结构以及控制程序的编写。机械结构采用了对称式设计，结构简单；其行走功能由六只脚、18个舵机实现，自由度较高，稳定性、灵活性较好。控制程序的主体是C语言。包括基本步态的编写，以及传感器的在机器人上的高级应用，这样，机器人在满足基本行走运动的同时，也能感知外界环境，并通过控制器对接收到的外界信号进行处理，并控制机器人运动。关键词：对称式结构，舵机控制器，步态，传感器AbstractThethesisdescribesindetailthatthemechanicdesignofHexcrawlerandthecompilingofcontrolprogram.Thestructureoftherobotisinsymmetricexpression,asimplemechanism;thefunctionofwalkingissupportedbysixlegs,andeighteenmotors,withmultipledegreesoffreedom.Besides,itisofhighstabilityandflexibility.TheprogramtocontroltherobotiswritteninClanguage,includingbasicgait,theadvancedapplicationofsensors.Thereby,therobotcanwalkinseveralgaits.Atthesametime,itcansensetheconditionaroundit.Then,itwillprocessthedataitreceived,andcontrolthemotionoftherobot.Keywords:symmetricexpression，PSCU,gait,sensor目录摘要·······························································································································IAbstract························································································································II目录·····························································································································III1绪论·······················································································································-1-1.1课题来源····················································································································-1-1.2本课题的目的及其意义····························································································-1-1.3国内外发展现状········································································································-1-1.4本课题的研究内容····································································································-5-2机械结构设计介绍·······························································································-6-2.1功能需求与分析··································································································...
