双足仿生机器人设计与制作

Design and manufacture of biped bionic robot--mechanical structuredesignAbstractAlong with the development of The Times,the pace of life of people more and more fast,working efficiency is more and more attention,and now also in the rapid development ofscience and technology,so the robot in the future play an important role in human life,is ourgood helper,it can improve the quality of our life,improve our work efficiency,so as topromote the improvement of productivity and the progress of the society as a whole.Atpresent,the research of bionic robot is highly valued at home and abroad.In the field ofbionic robot research,bipedal bionic robot is an important research topic,and I think itsresearch value is higher than that of wheeled robot or other foot robot.This design is a small bipedal bionic robot with simple structure,low cost and highmaneuverability.It distributes the degree of freedom by imitating the human leg joints andpreset goals,selects the driving elements according to the design task,and then carries out thethree-dimensional modeling design of the mechanical structure through SOLIDWORKSsoftware,and carries out the finite element analysis of the key parts of the robot.Andaccording to the D-H parameter method to establish kinematics equations,so as to carry outpositive kinematics analysis.Finally,a small bipedal bionic robot is designed,which canrealize forward and backward,left and right,step,bow,ultrasonic obstacle avoidance andother functions.Keywords:Small bionic biped robot;mechanical structure;3D modeling;kinematics analysis;finite element analysis