-0-摘 要本文介紹了國(guó)內(nèi)外四足步行機(jī)器人的發(fā)展?fàn)顩r和三維制圖軟件 SolidWorks 的應(yīng)用，著重分析了設(shè)計(jì)思想并對(duì)行走方式進(jìn)行了設(shè)計(jì)并在此軟件基礎(chǔ)上四足步行機(jī)器人腿進(jìn)行了繪制，對(duì)已繪制的零部件進(jìn)行了裝配和三維展示。展示了SolidWorks 強(qiáng)大的三維制圖和分析功能。同時(shí)結(jié)合模仿四足動(dòng)物形態(tài)展示出了本次設(shè)計(jì)。對(duì)設(shè)計(jì)的四足行走機(jī)器人腿進(jìn)行了詳細(xì)的分析與總結(jié)得出了該機(jī)構(gòu)的優(yōu)缺點(diǎn)。本文對(duì)四足機(jī)器人腿的單腿結(jié)構(gòu)分析比較詳細(xì)，并結(jié)合三維進(jìn)行理性的理解。關(guān)鍵詞：SolidWorks；四足步行機(jī)器人腿-1-AbstractIn this paper, fouth inside and outside the two-legged walking robot and the development of three-dimensional mapping of the application of SolidWorks software, focused on an analysis of design concepts and approach to the design of walking and the basis of this software quadruped walking robot legs have been drawn on components have been drawn to the assembly and three-dimensional display. SolidWorks demonstrated a strong three-dimensional mapping and analysis functions. At the same time, combined with four-legged animal patterns to imitate the design show. The design of four-legged walking robot legs to carry out a detailed analysis and arrive at a summary of the advantages and disadvantages of the institution. In this paper, four single-legged robot more detailed structural analysis, combined with a rational understanding of three-dimensional. Keywords: SolidWorks; four-legged walking robot-2-目 錄摘 要 IAbstract.II前 言 .IV1 緒論 11.1 步行機(jī)器人的概述 11.2 步行機(jī)器人研發(fā)現(xiàn)狀 11.3 存在的問題 62 四足機(jī)器人腿的研究 72.1 腿的對(duì)比分析 72.1.1 開環(huán)關(guān)節(jié)連桿機(jī)構(gòu) 72.1.2、閉環(huán)平面四桿機(jī)構(gòu) .92.2 腿的選擇與設(shè)計(jì) .112.2.1 腿的配置形式 .112.2.2 腿的步態(tài)選擇與分析 .122.3 腿的設(shè)計(jì) .142.3.1 腿的機(jī)構(gòu)分析 .152.3.2 支撐與擺動(dòng)組合協(xié)調(diào)控制器 .202.4 單條腿尺寸優(yōu)化 .232.4.1 數(shù)學(xué)建模 .232.4.2 運(yùn)動(dòng)特征的分析 .252.5 機(jī)器人腿足端的軌跡和運(yùn)動(dòng)分析 .262.5.1 機(jī)器人腿足端的軌跡分析 .262.5.2 機(jī)器人腿足端的運(yùn)動(dòng)分析 .283. 機(jī)體設(shè)計(jì) 303.1 機(jī)體設(shè)計(jì) .303.1.1 機(jī)體外殼設(shè)計(jì) .303.1.2、傳動(dòng)系統(tǒng)設(shè)計(jì) 303.2 利用 Solid Works 進(jìn)行腿及整個(gè)機(jī)構(gòu)輔助設(shè)計(jì) .344.結(jié)論 .354.1 論文完成的主要工作 .354.2 結(jié)論 .35參考文獻(xiàn) .36致 謝 .37