1、 英文资料 One kind of simple foot -like migration robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so o
2、n. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also adva
3、nces the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality an
4、d high reliability robot system will be value to robot social application and economy development. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the b
5、asis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of directi
6、on coordinate and the arthritis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission
7、 mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever.
8、The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only
9、 for control precision but also for the target of economic and practicality. On this basis， the analysis of stepping motor in power calculating and style selecting is also given. The walk organization because it is opposite to the ordinary wheeled organization has many unique superiority, obtains th
10、e widespread application in more special domains. At present unceasingly appears on he market by the new multi- groups walk organization, their mostly intellectualization degree higher, the organization and the control is complex. The people frequently must draw support to the walk organization rese
11、arch to animals careful observation and the movement mechanism analysis. We note, insect when smooth unimpeded terrain surface barrel, are many by in turn triangle gait movement, namely six feet will divide into two groups, the bodily later around foot and the opposite side center fully respectively
12、 took a group, will form a stable triangle strut. Two groups of legs in turn swinging with strut ,realization insects quick movement. This article proposed the simple foot -like robot has 6 struts feet, imitated the insect to walk the gait, could go forward, the backlash on the flat land, about the
13、curve, when met the barrier could voluntarily avoid. 1 organization analysis Designing starts with a need, real or imagined. Existing apparatus may need improvements in durability, efficiently, weight, speed, or cost. New apparatus may be needed to perform a function previously done by men, such as
14、computation, assembly, or servicing. With the objective wholly or partly defined, the next step in design is the conception of mechanisms and their arrangements that will perform the needed functions. For this, freehand sketching is of great value, not only as a record of ones thoughts and as an aid
15、 in discussion with others, but particularly for communication with ones own mind, as a stimulant for creative ideas. When the general shape and a few dimensions of the several components become apparent, analysis can begin in earnest. The analysis will have as its objective satisfactory or superior
16、 performance, plus safety and durability with minimum weight, and a competitive cost. Optimum proportions and dimensions will be sought for each critically loaded section, together with a balance between the strength of the several components. Materials and their treatment will be chosen. These impo
17、rtant objectives can be attained only by analysis based upon the principles of mechanics, such as those of states for reaction forces and for the optimum utilization of frication； of dynamics for inertia, acceleration, and energy； of elasticity and strength of materials for stress and deflection； an
18、d of fluid mechanics for lubrication and hydrodynamic drives. Finally, a design based upon function and reliability will be completed, and a prototype may be built. If its tests are satisfactory, and if the device is to produced in quantity, the initial design will undergo certain modifications that
19、 enable it to be manufactured in quantity at a lower cost. During subsequent years of manufacture and service, the design is likely to undergo changes as new ideas are conceived or as further analysis based upon tests and experience indicate alterations .Sales appeal, customer satisfaction, and manu
20、facture cost are all related to design, and ability in design is intimately involved in the success of an engineering venture. 1.1 overall constructions design Overall constructions design shows is six feet shifting mechanism overall construction diagram. This organization structure simpler, because
21、 the torso are partial and six feet, the tension bar and the direct current electric motor compositions. If the race 1 and 3 connects by tension bar a； The foot 4 and the foot 6 by the tension bar f connection, they may circle on the torso respective axle center to swing the certain angle in the hor
22、izontal plane； The foot 2 and the foot 5 also by the tension bar connection, may circle on the torso the axle center to swing the certain angle in the vertical plane. Thus, the foot 1 and the foot 3as well as tension bar a and the body form a plane parallel four link motion gear； The foot 4 and the
23、foot 6 as well as tension bar f and the body form another plane parallel four link motion gear. This six feet shifting mechanism uses three sets of motor-drivens, set of motor-driven foot 1 and the foot 3, the second set of motor-driven foot 4 and the foot 6, the third set of motor-driven actuation
24、foot 2and the foot 5, the relatively former each kind of walk organization ,this organization main characteristic is: Structure simple, gait novel, the control is easy to realize. Separately actuates three sets of electrical machinery movements to be allowed to realize the organization to walk in th
25、e ground by the different gait, function and so on realization advance, backlash, curve. 1.2 gaits designs The walk organization walks the way to divide into the static state to walk dynamically with walks two kinds. The static state walks the way is refers to the walk organization while to walk in the process throughout to have three above the foot； The tendency walks the way is refers to except for this other to walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in
