摘要随着科学技术的发展，机器人产品在人们的工作环境中发挥着越来越重要的作用，六足爬行机器人作为机器人的一个分支，故在其相关领域的研究具有重要意义。

论文首先阐述了机器人的发展概况。其次，对目前国内外爬行机器人的发展、应用进行阐述。该作品包括整体机构设计、硬件电路部分设计和功能扩展这三个方面内容。整体机构设计中介绍了微型伺服电机的原理以及六足爬行机器人步态分析，硬件电路部分设计中介绍了单片机、电源模块及相关电路图的设计，功能扩展模块方面介绍了无线遥控模块、超声波模块等，在六足机器人的研究中还包含了很多仿生学方面的知识，针对生物的行为步态来设计六足机器人的步态分析和运动规划，使得六足机器人的设计更加合理。由于在制作过程中条件有限，机器人还有诸多需要改进的地方，在最后提出了六足爬行机器人的改进和提高，并对爬行机器人的发展作了展望。50796

毕业论文关键词：六足爬行机器人；硬件电路；步态分析；微型伺服电机

Abstract

With the development of science and technology, robotics products in people's work environment plays an increasingly important role, six-legged crawling robot as a branch of the robot, it is of great significance in the related areas of research.

    Firstly the thesis describes the development of robots. Secondly, development and application of crawling robot at home and abroad is also talked about in thesis. The works include the design of the organization as a whole, part of the design of the hardware circuit and functions expansion of these three aspects. Principle of micro servo motor and six-legged crawling robot gait analysis in the design of the organization as a whole, part of the design of the hardware circuit of the 51 series microcontroller, power supply module and circuit design, functional expansion module wireless remote control module, ultrasonicmodule and so on. Research on six-legged robot also includes a lot of knowledge about bionics, gait analysis and robot motion planning according to the biological behavior making the design of six-legged robots more reasonable. In the production process due to limited conditions, the robot also needs to be improved in many places, Finally this thesis produce the improvement and enhancement of the six-legged crawling robot, and prospect the development of crawling robots prospected.

Keywords: crawling robot; drive device; mechanical components; flame sensor; control circuit

目    录

第一章  绪论 1

1.1 机器人简介 1

1.1.1 机器人的定义 1

1.1.2 能力评价 1

1.1.3 机器人的组成和执行机构 1

1.1.4 国内外的研究状况 1

1.1.5 机器人的分类情况 2

1.1.6 爬行机器人的发展特点及应用 5

1.2 本课题设计目标及实现方案 5

1.2.1 设计目标 5

1.2.2 实现方案 6

1.2.3 创新特色及应用前景 6

1.3 本章小结 6

第二章  六足机器人的机械结构 7

2.1 整体结构 7

2.1.1 舵机内部结构 7

2.1.2 舵机工作原理介绍