可變形仿生翻滾四足機器人結(jié)構(gòu)設(shè)計摘要: 移動機器人是科學技術(shù)進步的產(chǎn)物，更是人類無限幻想和智慧的結(jié)晶。移動機器人在軍事、生產(chǎn)、生活以及科學研究中還有著許多潛在的應(yīng)用前景。移動機構(gòu)決定了移動機器人的綜合移動性能，是移動機器人能夠在工作環(huán)境中實現(xiàn)快捷、平穩(wěn)、精確、高效移動的關(guān)鍵。為了提高機器人的移動效率，同時也為了降低機器人結(jié)構(gòu)的復(fù)雜性，本課題從現(xiàn)代仿生學原理出發(fā)，將自然界中的翻滾運動引入到四足機器人結(jié)構(gòu)當中，并借鑒可重構(gòu)機器人理論，首次提出一種具有翻滾模式和步行模式的可變形仿生翻滾四足機器人，達到用一種機構(gòu)實現(xiàn)兩種運動的目的。本文對可變形仿生翻滾四足機器人進行了總體方案設(shè)計，選定了結(jié)構(gòu)參數(shù)，和驅(qū)動方式。詳細地對機器人的本體結(jié)構(gòu)進行了設(shè)計，并對機器人關(guān)鍵部位進行了校核。本課題提高了四足機器人的環(huán)境適應(yīng)能力，拓展四足機器人的應(yīng)用領(lǐng)域，而且豐富了移動機器人學科的理論和實踐，對移動技術(shù)的發(fā)展和高機動性移動平臺的開發(fā)具有一定的借鑒作用，具有重要的理論意義與實際應(yīng)用價值。關(guān)鍵詞：四足機器人；仿生翻滾；可重構(gòu)機器人；設(shè)計校核Structural Design for a Reconfigurable Bionic Rolling Quadruped RobotAbstract : Mobile robot is the product by scientific and technological progress, and also the crystallization of human infinite fantasy and wisdom. Mobile robot have many potential application prospect in the military, production, living and scientific research. The move mechanism of the robot determines the comprehensive move performance, also it’s the key for robot to work smooth, accurate and quick, efficient in the surroundings.In order to improve the robot move efficiency, and also to reduce the complexity of the structure, this paper is based upon the modern bionics principle. The rolling style in nature is put into robot structure. Referencing reconfigurable robot theory, a reconfigurable bionic rolling quadruped robot is put forward, which has two move modes---- walk model and rolling model. In this way, it can achieve the purpose of using a mechanism to get two movement models.General scheme design of the robot is made in this paper, structure parameters and drive mode are selected. Robot body structure is designed detailed, and the key parts of the robot are checked in this paper.This topic raised the ability for robot to adapt environment, expand the application field of robot, and also enriched the discipline theory and practice for robotics. It has a certain reference of the development of mobile technology and high mobility mobile platform. So this paper has an important theoretical significance and practical application value.Key words: quadruped robot; bionic rolling; reconfigurable robot; design and check