一种多足机器人的运动及其控制性研究

Research on the Locomotion and Controllability of a Multi-Legged Robot

摘要: 多足机器人是比较流行的一种新型机器人，目前研究比较多的是四足与六足机器人。为提高其灵活性，通过对短指和尚蟹的腿部结构与运动分析，设计了一款八足仿生机器人。该多足机器人通过Solidworks建立三维模型，结合短指和尚蟹与六足机器人的运动分析设计出适合八足仿生机器人运动的步态，通过有限元对足部进行载荷和应力分析，从而研究其搭载重量阈值，最后通过基于STM32的舵机控制板控制24个舵机实现腿部运动，进而实现全方位行走、行进取物等各种运动。本文简要介绍了该多足机器人的设计原理、材料选型、运动分析及其控制的相关部分。

Abstract: Multi-legged robots are a popular type of new robot, with quadruped and hexapod robots being the most extensively researched currently. To enhance their flexibility, an octopod bionic robot was designed by analyzing the leg structure and movement of the short-fingered crab. The multi-legged robot was modeled in three dimensions using Solid works. By combining the movement analysis of the short-fingered crab and hexapod robots, a gait suitable for the octopod bionic robot was designed. Finite element analysis was used to study the load and stress on the legs, thereby determining the weight threshold it can carry. Finally, the robot’s leg movements were controlled by a servo control board based on STM32, which controls 24 servos to achieve various movements such as omnidirectional walking and object retrieval. This paper briefly introduces the design principles, material selection, motion analysis, and related control aspects of the multi-legged robot.