文档介绍：目录
摘要 4
1 绪论 6
6
6
7
7
8
8
9
2 设计内容 10
10
10
: 12
12
3四杆机构的设计 13
13
13
13
14
15
16
16
17
18
4传动机构设计 19
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19
19
20
、和带轮节圆直径、 20
20
20
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5主轴组件设计 22
22
22
23
23
23
25
6箱体设计 27
27
28
7杆件布层 30
8操作与安装 31
小结 32
致谢 34
参考文献 35
摘要
在自然界或人类社会中,存在人类无法到达的地方和可能危及人类生命的特殊场合,如工地、防灾救援等许多领域,对这些复杂环境不断的探索和研究往往需要有机器人的介入。四足步行机器人是机器人的一个重要分支,由于四足机器人比两足步行机器人承载能力强、稳定性好,同时又比六足、八足步行机器人结构简单,因而更加受到各国研究人员的重视。
整个设计方案主要执行构件为四杆机构。本机构采用对角线一致的原则,通过曲柄摇杆机构带动腿部运动,左前腿与右前腿一致,右前腿与左前腿一致。它是利用连杆曲线特性,当一对角足运动处于曲线的直线段时则着地不动,而另一对角足则处在曲线段做迈足运动,从而可实现类似动物的迈足运动。采用直流伺服电机驱动,通过同步带轮带动曲柄摇杆机构运动。
关键词:曲柄摇杆对角线一致传动件主轴组件箱体设计杆件布层
Abstract
In the natural and human society ,there are many places that human beings cannot reach or special occations that may endanger the lives of human beings ,such as working site or many other areas of disaster often require robot intervention during continuous explorations and studies of in plex feet walking robot is an important branch of 4 feet walking robot has great advantages over 2 feet robot in carrying capacity and stability,while having a more simple structure than 6,8 feet walking robots,many researchers attach great importance to 4feet walking robot. The executive body of the design is par 4 agencies adopt the diagonal principles .The power goes through crank rocker to the movement of left front leg keep in consensus with right latter leg, as design take use of the rod curve features,while one part of the legs are in the straight line and stand still ,the o