一种仿人直立行走机器人的结构设计研究
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摘要
为了满足人形机器人负载能力强、功耗低、精度高的要求,设计了一种新型机械结构的直立行走式仿人机器人。该结构主要包括并联平行四杆型腿部肢干机构、行星轮型偏心机构和不完全齿式转体机构。采用直流电动机为驱动元件,提升负载能力,并利用限位开关和复位开关作为步态坐标反馈和步距控制。对原理样机调试,结果表明该仿人机器人结构设计合理,运行良好,步态平稳,精度较高。
In order to meet the requirements of humanoid robot for its strong load capacity,low power consumption and high accuracy,a new robot walking robot with upright structure was designed for humanoid robot,The mechanical structure mainly includes parallel four bar type leg stem mechanism,planetary wheel type eccentric mechanism and incomplete tooth type rotation mechanism. The DC motor was used as the driving element,and the limit switch and reset switch are used as the coordinate feedback and step control of the gait. The test of the prototype was carried out,the results showed that the humanoid robot has reasonable structural design,runs well,and has smooth gait and high precision.
In order to meet the requirements of humanoid robot for its strong load capacity,low power consumption and high accuracy,a new robot walking robot with upright structure was designed for humanoid robot,The mechanical structure mainly includes parallel four bar type leg stem mechanism,planetary wheel type eccentric mechanism and incomplete tooth type rotation mechanism. The DC motor was used as the driving element,and the limit switch and reset switch are used as the coordinate feedback and step control of the gait. The test of the prototype was carried out,the results showed that the humanoid robot has reasonable structural design,runs well,and has smooth gait and high precision.
引文
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[6]李艳杰,徐继宁,王侃.仿人机器人发展现状及其腰关节的作用[J].沈阳工业学院学报,2004(1):18-23.
[7]付根平,杨宜民.仿人机器人的步行控制方法综述及展望[J].机床与液压,2011(23):154-159.
[8]朱秋国,伍浩贤,吴俊丰,等.基于三连杆动力学模型的仿人机器人站立平衡控制[J].机器人,2016(4):451-457.
[9]胡凌云,孙增圻.双足机器人步态控制研究方法综述[J].计算机研究与发展,2005(5):728-733.
[10]戴珊珊,陈庆贺.基于并联机构的仿人机器人结构设计[J].组合机床与自动化加工技术,2011(11):77-80.
[11]徐清雪.仿人机器人的结构设计与步态控制研究[D].北京:北京邮电大学,2014.
[2]RUNGE C F,SHUPERT C L,HORAK F B,et al.Ankle and hip postural strategies defined by joint torques[J].Gait and Posture,1999,10(2):161-170.
[3]于秀丽,魏世民,廖启征.仿人机器人发展及其技术探索[J].机械工程学报,2009(3):71-75.
[4]张茂川,蔚伟,刘丽丽.仿人机器人理论研究综述[J].机械设计与制造,2010(4):166-168.
[5]宫赤坤,高丽丽.仿人机器人的设计与实现[J].机械传动,2013(5):43-46.
[6]李艳杰,徐继宁,王侃.仿人机器人发展现状及其腰关节的作用[J].沈阳工业学院学报,2004(1):18-23.
[7]付根平,杨宜民.仿人机器人的步行控制方法综述及展望[J].机床与液压,2011(23):154-159.
[8]朱秋国,伍浩贤,吴俊丰,等.基于三连杆动力学模型的仿人机器人站立平衡控制[J].机器人,2016(4):451-457.
[9]胡凌云,孙增圻.双足机器人步态控制研究方法综述[J].计算机研究与发展,2005(5):728-733.
[10]戴珊珊,陈庆贺.基于并联机构的仿人机器人结构设计[J].组合机床与自动化加工技术,2011(11):77-80.
[11]徐清雪.仿人机器人的结构设计与步态控制研究[D].北京:北京邮电大学,2014.