六足仿生蜘蛛机器人步态轨迹规划研究作者：张思晨 莫书维可控硅焊机 关荣博 范博来源：《科技创新与应用》2019年第08期 鸟笼灯
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摘; 要：六足放生步行机械人基于动力学原理，采用多自由度设计思想，利用多个连杆组建成智能机器人。由于机器人模型结构比较复杂，导致步态轨迹稳定性难以控制。文章采用独立操控方式设计了六足结构，通过MATLAB软件模拟仿真蜘蛛机器人步态轨迹。仿真结果表明，文章设计的机器人结构满足控制需求。
碗形垫片关键词：六足仿生蜘蛛机器人;控制器;步态轨迹
中图分类号：TP242; ; ; ; ;文献标志码：A; ; ; ; ; ;文章编号：2095-2945黑碟（2019）08-0025-02
Abstract机： Based on the principle of dynamics， the hexapod release walking robot adopts the idea of multi-degree-of-freedom design and uses multiple connecting rods to form an intelligent robot. Because of the complexity of the robot model structure， the gait trajectory stability is difficult to control. In this paper， the hexapod structure is designed by independent control mode， and the gait trajectory of spider robot is simulated by MATLAB software. The simulation results show that the robot structure designed in this paper meets the control requirements.
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