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摘 要
本文總結(jié)了國(guó)內(nèi)外仿生蜘蛛機(jī)器人的背景和目標(biāo),仿生蜘蛛機(jī)器人的研究成果和簡(jiǎn)單介紹。介紹了蜘蛛的運(yùn)動(dòng)原理和設(shè)計(jì)的大概思路。通過(guò)研究蜘蛛機(jī)器人的六足仿生的運(yùn)動(dòng),這種設(shè)計(jì)已確定腳結(jié)構(gòu),使用3自由度的分析實(shí)現(xiàn)向前運(yùn)動(dòng)，經(jīng)過(guò)計(jì)算和模擬確定了方案的可行性。通過(guò)計(jì)算選擇了電機(jī)的種類(lèi)和型號(hào)。完成了各個(gè)零件型號(hào)以及種類(lèi)的選擇。構(gòu)想的組件和裝配仿生蜘蛛機(jī)器人以及相關(guān)部件的檢查,確保機(jī)械設(shè)計(jì)的可行性，都包含在總設(shè)計(jì)。
關(guān)鍵詞：仿生；機(jī)器人；機(jī)構(gòu)
ABSTRACT
Bionic spider robots at home and abroad are reviewed in this paper.the background and target, bionic spider research results and a brief introduction of the robot.Introduced the movement principle of spider and general idea of design.Through the study of the movement of the hexapod bionic robot spider, the design has been determined foot structure, use 3 degrees of freedom analysis to realize the forward movement, through the calculation and simulation to determine the feasibility of the scheme.By calculating the types and models of the motor.Completed the selection of models and various parts of the.Idea of components and assembly, inspection of bionic robot spider and related components to ensure the feasibility of the mechanical design, are included in the total design.
KEYWORDS：bionics ；hexapod robot ；machinery