| 轮式移动宜人机器人可变刚度腰部机构设计 |
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| 引用本文： | 赵铁军,谈大龙,赵明扬,吴镇炜,刘红军.轮式移动宜人机器人可变刚度腰部机构设计[J].机械工程学报,2004,40(7):132-135. |
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| 作者姓名： | 赵铁军 谈大龙 赵明扬 吴镇炜 刘红军 |
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| 作者单位： | 1. 沈阳工业大学机械工程学院,沈阳,110023
2. 中国科学院沈阳自动化所机器人学重点实验室 |
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| 基金项目： | 国家863高技术研究发展计划(2001AA422170)，辽宁省自然科学基金(20032036)资助项目。 |
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| 摘 要： | 轮式移动宜人机器人是一个仿人机器人技术研究平台,它由正交轮式移动平台、腰部、双臂、躯干及头部组成。仿人机器人腰部的构成对其运动学、动力学性能起着重要的作用。分析了目前仿人机器人腰部机构存在的问题,提出了一种具有可变刚度特征的仿人机器人腰部设计方案。设计方案使仿人机器人具有良好的柔顺性,提高了机器人与人协作时的安全性、稳定性和抗干扰能力。着重分析了腰部机构的运动学、动力学以及可变刚度特性。
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| 关 键 词： | 仿人机器人 刚度 腰 |
| 修稿时间： | 2003年2月24日 |
DEVELOPMENT OF A WAIST MECHANISM WITH FUNCTION OF VERYING THE JOINT STIFFNESS FOR MOBILE HUMANOID ROBOT |
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| Zhao Tiejun.DEVELOPMENT OF A WAIST MECHANISM WITH FUNCTION OF VERYING THE JOINT STIFFNESS FOR MOBILE HUMANOID ROBOT[J].Chinese Journal of Mechanical Engineering,2004,40(7):132-135. |
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| Authors: | Zhao Tiejun |
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| Abstract: | The mobile humanoid robot is designed for stud-ying humanoid robot technology. It has human-like upper body configuration of a head, two arms, a waist, a trunk and a mobile platform.The waist of humanoid robot plays an important role on the kinematics and dynamics property of the whole body. Problems of the humanoid robot waist is described, a flexible waist that could vary the joint stiffness is presented. The influ-ence of this waist on the compliant characteristics of the whole body is studied. This waist can stabilize the humanoid robot by performing the waist and the arms dynamic cooperative motion and realize security by varying the joint stifmess while operating. The model method of the mechanical systems kinematics, dynamics and stiffness is developed. |
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| Keywords: | Humanoid robot Stiffness Waist |
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