六足机器甲虫定点转弯步态研究

摘要

Based on the hexapod crawler from Shenzhen Depush company named DRROB604, the paper makes research on the stand-still turning gait. By analyzing the kinematics of the crawl locomotion and the bearing ability of the servos, we get the maximal swerving angle of the DRROB604 which does once the gait and describe the gait with eight steps. Finally,we do some experiment on the DRROB604 hexapod crawler and verity the correctness of the gait and the conclusion.%以深圳德普斯公司的DRROB604六足机器甲虫为对象,研究了六足机器甲虫的定点转弯步态问题.文中从几何运动学分析、关节舵机受力分析等几个方面入手,得出DRROB604六足机器甲虫定点转弯时的单步最大机身转动角度,并给出分8次完成的定点转弯步态.最后,通过DRROB604六足机器甲虫定点转弯实验验证了方法的正确性.