一种仿人直立行走机器人的结构设计研究  

Structural Design of a Humanoid Upright Walking Robot

作　　者：倪笑宇 马晨园 王占英[1] 耿明超[1] 胡一龙 NI Xiao-yu;MA Chen-yuan;WANG Zhan-ying;GENG Ming-chao;HU Yi-long(Hebei Institute of Architecture and Civil Engineering, Zhangjiakou 075000,China)

机构地区：[1]河北建筑工程学院,张家口075000

出　　处：《微特电机》2019年第4期80-82,共3页Small & Special Electrical Machines

基　　金：2016年河北省高等学校青年拔尖人才计划项目(BJ2016017);2017年河北省高校新工科研究与实践项目(2017GJXGK033);2017年度河北省大学生创新创业训练计划项目(201710084015)

摘　　要：为了满足人形机器人负载能力强、功耗低、精度高的要求,设计了一种新型机械结构的直立行走式仿人机器人。该结构主要包括并联平行四杆型腿部肢干机构、行星轮型偏心机构和不完全齿式转体机构。采用直流电动机为驱动元件,提升负载能力,并利用限位开关和复位开关作为步态坐标反馈和步距控制。对原理样机调试,结果表明该仿人机器人结构设计合理,运行良好,步态平稳,精度较高。In order to meet the requirements of humanoid robot for its strong load capacity,low power consumption and high accuracy,a new robot walking robot with upright structure was designed for humanoid robot,The mechanical structure mainly includes parallel four bar type leg stem mechanism,planetary wheel type eccentric mechanism and incomplete tooth type rotation mechanism. The DC motor was used as the driving element,and the limit switch and reset switch are used as the coordinate feedback and step control of the gait. The test of the prototype was carried out,the results showed that the humanoid robot has reasonable structural design,runs well,and has smooth gait and high precision.

关 键 词：仿人机器人 直立行走 平行四杆机构 偏心机构 直流电机 

分 类 号：TM381[电气工程—电机]