绳索-齿轮混合传动的仿人机器人下肢研究

Research on the Lower Limb of Humanoid Robot with Rope-gear Hybrid Transmission

从仿生学角度出发设计机器人下肢,提出一种绳索-齿轮混合传动方案的仿人机器人下肢结构。对仿人下肢机器人进行三维建模,并通过在ADAMS中进行绳索动力学仿真选出合适的绳索规格与型号,对简化后的下肢机器人结构进行动力学理论分析与仿真,结果表明了所设计结构的合理性,对于仿人机器人的设计具有一定的借鉴意义。

The lower limbs of the robot are designed based on the perspective of bionics,and a rope-gear hybrid transmission scheme is proposed.The study carried out three-dimensional modeling of the humanoid lower limb robot,and selected the appropriate rope specification and model through the rope dynamics simulation in ADAMS.Dynamic theoretical analysis and simulation on the simplified lower limb robot structure were conducted.The result shows the rationality of the designed structure,providing references for the design of humanoid robot.