摘要
ANEWMETHODOFMECHANISMSYNTHESISFORBIPEDROBOTS①TanGuanzhengInstituteofRobotics,CentralSouthUniversityofTechnology,Changsha41008...
For a biped robot, the most essential components are its joints, including hip, knee, and ankle joints. In this paper, the construction method of a new type of joint is proposed. The main feature of this joint is that a combined transmission consisting of harmonic gear drive and planet gear drive is adopted in its system, and it possesses smaller volume, greater driving torque, and fine looking appearance. Using this type of joint, a practical biped robot named NAIWR I was constructed. Experiments with NAIWR I robot showed that the method of mechanism synthesis proposed in this paper was reasonable and feasible.
出处
《中国有色金属学会会刊:英文版》
CSCD
1997年第1期152-156,共5页
Transactions of Nonferrous Metals Society of China