A New Method of Mechanism Synthesis for Biped Robots  

作　　者：谭冠政 

机构地区：[1]Institute of Robotics,Central South University of Technology(CSUT),Changsha 410083,P.R.China

出　　处：《High Technology Letters》1996年第1期22-25,共4页高技术通讯（英文版）

基　　金：Supported by the Natural Science Foundation of Hunan Province;the Scientific Research Foundations of NUAA and CSUT.

摘　　要：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 geardrive and planet gear drive is adopted in its system,and it possesses smaller volume,greaterdriving torque,and fine-looking appearance.Using this type of joint,a practical biped robotnamed NAIWR-I was constructed.The computer simulations and experiments with NAI-WR-I robot show that the method of mechanism synthesis proposed in this paper is reason-able and feasible.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.The computer simulations and experiments with NAI- WR-I robot show that the method of mechanism synthesis proposed in this paper is reason- able and feasible.

关 键 词：BIPED robot Mechanism synthesis HARMONIC GEAR DRIVE PLANET GEAR DRIVE 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]