【作者】 张扬；

【导师】 颜国正；

【作者基本信息】 上海交通大学 ， 精密仪器及机械， 2009， 硕士

【摘要】 相比轮式和履带式移动机器人,基于仿生学原理的足式机器人虽然结构比较复杂,控制相对繁琐,但却有其独特的优点:足式机器人自由度多,可以实现复杂灵活的运动方式,且因为足式机器人行走过程中的支撑点是离散的,借助对立足点的判断和选择,可以在极不规则的路面上行走,适应性极强,在军事侦察、灾后搜救、航空航天、工业管道、医学检测等领域都有广泛的应用前景。本文介绍了一种微型仿生四足机器人,对其机械结构和运动方式进行了理论分析和软件仿真,并制作了机器人样机,其长度41mm,宽度49mm,高度29mm。利用两套平面连杆机构的有效组合,模拟了足式运动的抬腿、前跨、后拉等动作,实现机器人的爬行运动。通过可旋转式的机身实现机器人的转向,以微型电机配合微型齿轮减速器作为机器人驱动源。微型仿生蠕动机器人;仿生学;直线驱动器;微机电系统更多还原

【Abstract】 Compared with tracked and wheeled robot, foot-walking robot based on the principle of bionics has its unique advantages, although the structure and control is more complicated: foot-walking robot has more DOF, it can make complex and flexible movement, and because of foot-walking robot walks in the process of discrete point, with the careful choice of standing point, it’s highly adaptive and can walk on very irregular roads. Foot walking robot will have a wide range of applications in military reconnaissance, search and rescue post, Aerospace, industrial pipelines, medical testing, and other fields.This paper introduces a kind of four-footed micro-bionic robot. The prototype is made based on analysis and simulation of its mechanical structure and moving principle. The external dimensions of bio-robot is: length 41 millimeter, width 49 millimeter, height 29 millimete. It simulates foot-movement like leg lifting, stepping, pulling after by using effective combination of 2 sets of linkage. It rotates by rotary main body and the driver source is micro-moto combined with micro-gear reducer. With the development of science and technology, there has been a huge demand for new mechanisms which can enter the cavities of human body to perform minimal invasive or non-invasive diagnosis, or able to enter industrial pipes to do online fault detecting. Bionics principle and MEMS technology are new tools to achieve such kind of mechanisms. Under the support of the National High Technology Research and Development Program of China (National 863 Program) & National Science Foundation(NSF), this paper introduced a miniature bionic creeping robotic system for clinical diagnosis and treatment of human’s intestines diseases. The research is mainly about:(1)Discussed the design ideas and motion principle, focused on inchworm-like and earthworm-like creeping motion.(2)Studied the technology of Micro-linear Driver , designed several kinds of micro DC motor driver and made the sample device. The aim is to provide a new effective approach and reference for the design of robotic endoscope system. The result shows that the miniature bionic creeping robotic system runs stably and has good move performance. This generation of miniature bionic creeping robotic system is very important for the further research.更多还原