仿人步行机器人机构设计

Design of Framework for Humanoid Robot

仿人步行机器人的机构是所有部件的载体,也是设计仿人机器人最基本的和首要的工作。本文根据项目规划和控制任务要求,按照从总体到部分、由主到次的原则,设计了一种适合仿人步行机器人控制的机构。文章首先从机构的设计目标出发,制定了总体设计方案,再根据总体方案进行了关键器件的选型,最后完成了各部分机构的详细设计工作。最终的机构在外型上具有仿人的效果,在功能上完全满足电气各部件机载化的安装要求。

Framework carries all of the other parts in humanoid robot so the design of framework is the first and basic work in humanoid robot design. According to the project layout and task requirement the paper designs a new framework that is suited for humanoid robot. First draws the whole plan to target then key components is selected details of design are made out at last. The new framework looks like a human it can bear the weight of whole robot and all of electric components can be installed in the framework. It can fulfill the need of control for humanoid robot.