谐波减速器在自重构机器人的应用研究

Research on the appliance of harmonic gear in self-reconfigurable

自重构机器人的提升机构用于机器人系统攀爬台阶类障碍时抬起前边的机器人,要求提升机构具有很大的减速比、输出转矩等,谐波减速器谐波齿轮传动是一种新型传动技术,具有运动精度高、传动比大、重量轻、体积小等特点,实验结果表明,谐波减速器能够很好地满足机器人系统对提升机构的要求。

The lifting mechanism in self-reconfigurable robot has to lift the front robot when the robot system cross the obstacle like step, harmonic gear is a new gearing with high motion precision, big ratio, light weight, little volume and so on, the experiment has express that harmonic gear can satisfy the demand of the robot system to lifting mechanism excellently.