摘要多足机器人是一种模仿昆虫步行方式的机器人，多足机器人依靠独立的具有多自由度的腿部提供动力，以一定的步行姿态实现机器人的行进。区别于传统的轮式和履带式机器人，多足机器人能在地形不规则和崎岖不平的环境中行走，它的环境适应性更强，可以完成宇宙探索、救难等复杂任务。本论文论述了八足机器人的概念、优缺点和应用前景，以及八足机器人的工作原理。并根据给定设计要求，确定八足机器人结构设计方案，尤其是其腿部的结构设计方案。运用三文绘图软件建立机器人的整体模型，着重细化机器人的腿部模型。通过运用ADAMS仿真软件对虚拟机进行静力仿真，计算、校核八足机器人腿部重要零件的结构特性及安全性。对虚拟机进行动态仿真，测量、分析八足机器人足部的运动特性。8091
关键词： 多足机器人 结构特性 虚拟机 仿真
毕业设计说明书（论文）外文摘要
Title The analysis of foot structure for an eight-legged robot
Abstract
Multi-legged robot is a kind of robot which imitates insects, its motive power comes from the legs with multiple degrees of freedom, and it can walk with a particular posture. Different from the traditional wheeled and tracked robots, multi-legged robot can walk in the irregular and rugged environment. Its adaptability to the environment is great. It can complete the complex tasks of space exploration, rescue, etc. This essay discusses the concept, advantages, disadvantages, application prospects and the working principle of the robot. According to the given requirements, the author needs to help design the structure of eight-legged robot, and then finish the design of the structure about its legs. After that, the writer Uses 3D graphics software to create the overall model of the robot and the model of the robot's legs is the main point. By using ADAMS，the author will do some static simulation for the virtual machine, calculating and checking the structural characteristics and safety of the important parts of the eight-legged robot legs. And some dynamic simulation will be done for the virtual machine, to measure and analyze the motion characteristics of the eight-legged robot foot.
Keywords Multi-legged robot structural characteristics virtual machine simulation
目 录
1 引言 1
1.1 多足机器人的定义 2
1.2 多足机器人的优缺点 2
1.3 步行机器人的应用前景 2
1.4 多足步行机器人的发展 3
1.5 研究的主要内容及思路 4
1.6 研究意义 5
1.7 文章各章节的内容 5
2 八足步行机器人的结构设计及建模 6
2.1 八足步行机器人机构设计 6
2.2 八足机器人的机身设计 7
2.3 八足步行机器人的腿部设计 8
3 机器人腿部虚拟样机技术 26
3.1 ADAMS学习应用 26
3.2 虚拟样机技术的基础[21] 26
3.3 八足步行机器人腿部机构仿真研究的主要流程 28
4 足部静力仿真分析 28
4.1 小腿关节受力仿真 29
4.2 弹簧受力仿真 34
4.3 螺杆螺母分析 37
5 足部动态仿真分析 40 八足机器人的足部结构特性分析:http://www.youerw.com/jixie/lunwen_6301.html