摘要
针对仿生机器蟹的结构特性及其微型伺服电机的功能特性设计需要,在对仿生机械运动学特性分析的基础上,给出了一种采用微型直流伺服电机驱动的仿生机器蟹步行腿设计,得出了优化结构参数,并应用实际系统设计;同时给出了基于三闭环控制框架的关节电机驱动控制方法,提出了多关节驱动系统控制结构。通过计算分析验证了结构的合理性和控制的可行性。
For the need of designing the structural characteristics of bionics crab - liked robot and the functional characteristics of micro - servo - motor, the paper presents the design of walking - leg for bionics crab - liked robot, which is driving by micro - servo - motor. On the basis of analyzing the kinematics characteristics of the bionics machine, the obtained parameters of optimized structure have been applied in our robot design. A method based on three closed loop motor control system structure for joint driver is also argued in this paper, as well as a multi - joint driving system for the robot' s walking - leg. The rationality of the structure and the feasibility of control are shown valid through calculation and analysis.
出处
《电机与控制学报》
EI
CSCD
北大核心
2005年第4期307-310,315,共5页
Electric Machines and Control
基金
国家自然科学基金资助项目(60175029)
关键词
仿生机器蟹
关节驱动器
伺服电机
三闭环
bionics crab - liked robot
joint driver
servo motor
three closed loop
