一种机器人新型足-掌机构研究和设计  

ON THE RESEARCH AND DEVELOPMENT OF A NEWKIND ROBOTIC LEG SOLE MECHANISM

作　　者：钱晋武[1] 吴惠兴[1] 章亚男[1] 沈耀宗 罗怡[1] 

机构地区：[1]上海大学精密机械工程系

出　　处：《机器人》1997年第2期139-142,共4页Robot

基　　金：八六三智能机器人机构开放实验室基金

摘　　要：本研究提出了一种适合作为多足爬壁机器人腿的足－掌机构．采用这种足－掌机构的爬壁机器人不仅能够顺利实现地－壁过渡行走，而且有可能适应其他形状的非平壁面（如球面、柱面）．足－掌机构以平面正缩放机构为基础，附加两套四连杆机构实现对掌姿态的主动控制．文中分别讨论了其机构原理、样机的驱动和传动方案。In the paper, a leg sole mechanism suitable for multi legged wall climbing robot is proposed. Using this kind of leg mechanism, the robot not only can climb from ground to wall easily, but has the possibility of adapting to such non plane surfaces as spherical or cylindrical ones. The leg sole mechanism is one based on a plane pantograph attached with two sets of four bar linkages in order for the robot to control the attitude of the sole. The paper gives discussion of mechanical configuration,drive/transmission schemes and structure of the leg sole mechanism.

关 键 词：移动机器人 爬壁机器人 足-掌机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]