汉语摘要翻译
发布网友
发布时间：2022-04-22 07:33
共1个回答
热心网友
时间：2022-06-17 19:13
Abatrct:
Set bionic bionic hexapod robot technology, mechanical design, motion control, modeling and simulation, information processing in one of the new type of special robots, can be used for battlefield reconnaissance, interplanetary exploration and the areas of disaster prevention and recovery, because of its performance on biological and acts of imitation, which has a strong environmental adaptability.
In this paper, six-legged robot bionic structure of biomimetic hexapod robot major joints - to analyze the design of the legs in order to confirm the motor based on the model; and Pro / E software environment, to map out the legs solid model.
And then from a single motor control system, the selection of a powerful DSP computing power as the control chip of choice for control of its own logic and over-current protection to the driver IC L6235 completed power brushless DC motor drive design based on TMS320F2812 single-motor control DSP hardware circuits and software flow chart.
Secondly, bionic hexapod walking robot using the straight-line "triangle gait" to carry out planning, and follow-focus and the focus of the two fixed static analysis of gait. Then with one foot in the swing and the support of two state-side track to carry out adequate analysis of the foot end of the corresponding curves.
Finally, for multi-motor control of a single DSP chip, the basis of gait analysis in the General Electric group and the control logic or gate chips for each motor management, in order to achieve a biomimetic hexapod robot multi-motor control
