仿人机器人的机械结构设计与控制系统构建  

Mechanical Structure Design and Control System Construction of Humanoid Robots

作　　者：罗庆生[1] 陈胤霏 刘星栋 朱琛 Luo Qingsheng;Chen Yinfei;Liu Xingdong;Zhu Chen(Electrical and Mechanical College,Beijing Institute of Technology,Beijing 100081,China;Guangdong Chaoyang Experimental School,Shantou 515100,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]广东省潮阳实验学校,广东汕头515100

出　　处：《计算机测量与控制》2019年第8期89-93,共5页Computer Measurement &Control

摘　　要：文章研发了一款适用于机器人教育教学的多功能、多用途、普适性的19自由度的小型仿人机器人,主要完成了该机器人的机械结构设计与控制系统构建工作;所设计的机器人机械结构可靠性高、工艺性好、结构紧凑、样式新颖;所构建的机器人控制系统鲁棒性高、稳定性好、控制准确、反应迅速,圆满地实现了预期的设计任务。通过对优缺点的综合对比,得出组合式构型方案在功能性、实用性和稳定性等方面具有明显优势,有望通过后续软件系统的开发提高其运动效能,真正在青少年机器人教育中发挥重要作用。A small humanoid robot with 19 degrees of freedom,which is multi-functional,multi-purpose and universal and suitable for education teaching,is developed.The mechanical structure design and control system construction of the robot are mainly completed.The mechanical structure of the robot designed has high reliability,superior technology,compact structure and novel style.The robot control system constructed has high robustness,good stability,accurate control and quick response,and successfully realizes the expected design task.Through the comprehensive comparison of advantages and disadvantages,it is concluded that the combined configuration scheme has obvious advantages in terms of functionality,practicability and stability.It is expected to improve its motion efficiency through the subsequent development of software system and really play an important role in education.

关 键 词：仿人机器人 机械结构设计 控制系统构建 自由度分配 结构实体造型 

分 类 号：U661.71[交通运输工程—船舶及航道工程]