摘要
基于蜘蛛、螃蟹节肢动物的爬行方式,采用作图法设计一种满足预定轨迹要求的齿轮-连杆组合机构:多足机器人。利用Solid Works软件对该机器人零件进行装配,并采用其中的Motion模块添加马达进行运动仿真分析,得出爪端速度曲线,验证了该机构的可行性。另外,该机器人搭载了TGAM脑电模块采集脑电数据,通过蓝牙串口发送给PC机进行数据处理,最后将数据发送给Arduino平台控制多足机器人以不同速度前进,实现脑波控制机器人的目的。
Based on crawling patterns of arthropod such as spiders and crabs,a multi-legged robot with gear rod combination mechanism was designed by drawing method which met the requirements of predetermined trajectory.Solid Works software was used to assemble the robot parts.Motion module was used to make kinematics simulation analysis by adding a motor,and the velocity curve of claw-end was obtained,which verified the feasibility of the mechanism.In addition,the robot carried the TGAM EEG module to collect EEG(Electro Encephalo Gram)data,and then sent it to PC through bluetooth serial port,and finally sent the data to Arduino platform to control the multi-legged robots to go forward at different speeds,so as to achieve the realization of brain wave control robot.
作者
王向玲
张林
WANG XiangLing;ZHANG Lin(Department of Mining Engineering,Lvliang University,Lvliang 033000,China;Key Laboratory for Electronic Measurement Technology&Key Laboratory of Instrumentation Science and Dynamic Measurement,North University of China,Taiyuan 030051,China;Key of Laboratory of Maintenance and Inspection of Coal Mine Mechanical Equipment of Lvliang City,Lvliang 033000,China)
出处
《机械强度》
CAS
CSCD
北大核心
2020年第2期499-503,共5页
Journal of Mechanical Strength
基金
国家杰出青年科学基金项目(51425505)
山西省“1331工程”煤矿机械装备故障诊断与健康管理技术重点创新团队(TD201812)资助。
