摘要
分析了步行运动的状态,确定了双足步行机器人自由度的分配,在比较各种驱动装置优缺点的基础上,选择了精度高、维修简单且易于程序控制和集中控制的舵机作为驱动器。根据特定的结构特征,构建了双足步行机器人的基本框架,并利用三维建模软件Unigraphics建立了双足步行机器人的实体模型。
This paper describes the design of a biped walking robot by computer. By comprehensive analysis of the basic walking movement of human ,the degrees of freedom in the robot body were determined. In addition ,each degree of freedom is powered by a servo motor which is fidelity in control and maintenance. Subsequently,the basic framework of this robot was proposed and constructed by Unigraphics 3D modeling software.
出处
《机械工程师》
2015年第1期164-167,共4页
Mechanical Engineer
关键词
双足步行机器人教师
舵机
三维建模
biped walking robot teachers
steering gear
three-dimensional modeling
