摘  要

机器人的研究和制造水平逐渐成为一个国家或者地区综合科技实力的标志。如何实现机器人在复杂环境中顺利工作一直是研究人员关注的焦点。国内外工程技术人员一直致力于研究机器人的动态步行，如何降低结构自由度并简化控制一直是研究的难点。本课题从仿生学原理出发设计了一种能实现动态步行的新型家用移动四足机器人。

本文对多足机器人的技术现状和特点进行了综合分析，确定了本课题的研究目标和预期结果。通过对马的对角小跑步态分析，完成了对家用移动四足机器人步态的分析与原理方案的设计，主要包括步行机构的原理方案和转弯机构的原理方案。

基于上述的原理方案，对步行机器人的结构进行了设计，主要内容有总体装配图设计、腿部结构设计、转弯结构设计。在机构设计完成的基础上，对齿轮轴、直齿圆锥齿轮、轴承等关键零件进行了校核计算。最后运用Pro/E软件为机器人进行了三维建模和机器人的动作过程进行了仿真。

本课题要求学生设计一种家用四足移动机器人。要求对移动机器人的结构中的薄弱环节和关键环节进行校核。并完成四足移动机器人的传感器配置和控制方案设计。

关键词：四足机器人；仿马步态；转弯机构；减震装置

ABSTRACT

The level of robot research and manufacturing has gradually become the symbol of a country or region's comprehensive scientific and technological strength. How to realize the robot working smoothly in complex environment has been the focus of researchers. Engineers at home and abroad have been devoted to the dynamic walking of robots. How to reduce the degree of freedom of structures and simplify control has been a difficult point. Based on the principle of bionics, a new kind of mobile quadruped robot is designed to realize dynamic walking.

In this paper, the present situation and characteristics of multi-legged robot are comprehensively analyzed, and the research objectives and expected results are determined. Through the analysis of the diagonal trot gait of the horse, the gait analysis and the design of the principle scheme of the household mobile quadruped robot are completed, including the principle scheme of the walking mechanism and the principle scheme of the turning mechanism.

Based on the above principle scheme, the structure of the walking robot is designed. The main contents are the general assembly drawing, the leg structure design and the turning structure design. On the basis of the completion of the mechanism design, the key parts, such as the gear shaft, the straight bevel gear and the bearing, are checked and calculated. Finally, the Pro/E software is used for the robot. Three dimensional modeling and robot's action process are simulated.

This subject asks the student to design a kind of household quadruped mobile robot. It is necessary to check the weak links and key links in the structure of mobile robots. The sensor configuration and control scheme of quadruped mobile robot are designed.

Keywords: quadruped robot; horse imitation gait; turning mechanism; shock absorber