【摘要】 描述了一种结构简单的双三角足式移动机器人,分析了该机构的行走步态及控制原理。该机构模仿六足昆虫的行走步态,具有三个自由度,分别由三个直流电机控制。电位器可实现单片机对直流电机的闭环控制,反射式光电传感器和行程开关使得六足机构自身具有一定的反应能力。对样机进行了实验,实验结果表明该机构机动性好,运动平稳。更多还原

【Abstract】 A simple structure of double-triangle six-legged walking robot was developed and the walking gait of the robot was analyzed.The six-legged machine imitated the walking gait of hexapod insect,and it had 3 degrees-of-freedom(DOF) and was controlled by three servomotors.The potentiometer made the MCU realize loop control to the servomotor,and the photoelectric sensor and the position switch made the machine have certain response characteristics.Some tests about the robot prototype were completed.The experimental results show that the robot has good mobility and it moves stably.更多还原