设计并研究了具有弹性阻尼环节的并联仿壁虎机器人结构。针对采用吸盘吸附的足式仿壁虎机器人,仿照生物壁虎设计基于连杆的仿壁虎机器人结构,介绍了机构的构型及结构特点,计算了机构的自由度,推导了逆运动学方程式,规划了对角线步态和三角爬行步态以实现机器人的直线行走。在MSC.ADAMS软件中建立机器人的虚拟样机并进行了步态仿真,检验了机器人结构和步态的可行性。通过实物样机爬行试验,验证了机器人能够根据设计步态行走。%We design a wall-climbing gecko robot that uses parallel structure and damping links to increase its stiffness.First of all,we design the structure of a foot-type wall-climbing gecko robot with damping links by imitating a biological gecko,introduce its configuration and structural characteristics and calculate its degree of freedom.Secondly,we derive its inverse kinematics equations.Thirdly,in order to make the gecko robot walk in a straight line,we plan the diagonal gait and the tripod climbing gait for it.Finally,we build the virtual prototype of the gecko robot and simulate its gait with the MSC.ADAMS software.The simulation results show that the gecko robot′s structure and gaits are feasible.The experiments on the prototype′s climbing verify that the gecko robot can walk steadily in a straight line according to the gaits designed by us.
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