| 基于凸轮控制驱动式的四足机器人行走机构设计与理论分析 |
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| 引用本文： | 桑春蕾,孙群,林宝龙.基于凸轮控制驱动式的四足机器人行走机构设计与理论分析[J].机械设计与制造,2010(3). |
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| 作者姓名： | 桑春蕾 孙群 林宝龙 |
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| 作者单位： | 1. 聊城大学,汽车与交通工程学院,聊城,252059
2. 中国农业大学,工学院,北京,100083 |
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| 基金项目： | 聊城大学大学生科技文化创新基金项目(SRT08106QC2) |
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| 摘 要： | 针对当前四足机器人纯机械式驱动行走机构研究的不足,设计了一种凸轮控制驱动式的行走机构,该机构包括腿机构和凸轮控制驱动机构两部分。提出了腿结构的设计要求及四足机器人的总体机械结构。根据腿机构的设计要求,设计了一种3自由度的腿机构,并对3个控制参数作了理论求解。在此基础上,设计了凸轮控制驱动机构,包括髋关节凸轮机构、主凸轮机构和膝关节凸轮机构。
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| 关 键 词： | 四足机器人 行走机构 机械设计 理论分析 |
Design and theory analysis for the stepped mechanism of the quadruped robot based on cam control drive |
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| SANG Chun-lei,SUN Qun,LIN Bao-long.Design and theory analysis for the stepped mechanism of the quadruped robot based on cam control drive[J].Machinery Design & Manufacture,2010(3). |
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| Authors: | SANG Chun-lei SUN Qun LIN Bao-long |
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| Affiliation: | 1School of Automobile &Transportation Engineering/a>;Liaocheng University/a>;Liaocheng 252059/a>;China;2College of Engineering/a>;China Agricultural University/a>;Beijing 100083/a>;China |
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| Abstract: | For lack of research on the machine drive based stepped mechanism of the quadruped robot,this article designed a kind of stepped mechanism based on cam control drive including the leg mechanism and the cam control drive mechanism. It proposed design requests of the leg mechanism and the machine system of the quadruped robot. Then,a leg mechanism with three freedoms was designed and three control parameters were analyzed. Based on this work,a cam control drive mechanism was designed including the coxa joint ... |
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| Keywords: | Quadruped robot Stepped mechanism Machine design Theory analysis |
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