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十二自由度四足机器人的腿机构设计与步行实验

盛沙 王建中 潘少鹏 施家栋

盛沙, 王建中, 潘少鹏, 施家栋. 十二自由度四足机器人的腿机构设计与步行实验[J]. 机械科学与技术, 2015, 34(3): 344-347. doi: 10.13433/j.cnki.1003-8728.2015.0304
引用本文: 盛沙, 王建中, 潘少鹏, 施家栋. 十二自由度四足机器人的腿机构设计与步行实验[J]. 机械科学与技术, 2015, 34(3): 344-347. doi: 10.13433/j.cnki.1003-8728.2015.0304
Sheng Sha, Wang Jianzhong, Pan Shaopeng, Shi Jiadong. The Design and Walking Experiment for Leg Mechanism of A Quadrupedal Robot with 12 Degrees of Freedom[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 344-347. doi: 10.13433/j.cnki.1003-8728.2015.0304
Citation: Sheng Sha, Wang Jianzhong, Pan Shaopeng, Shi Jiadong. The Design and Walking Experiment for Leg Mechanism of A Quadrupedal Robot with 12 Degrees of Freedom[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(3): 344-347. doi: 10.13433/j.cnki.1003-8728.2015.0304

十二自由度四足机器人的腿机构设计与步行实验

doi: 10.13433/j.cnki.1003-8728.2015.0304
详细信息
    作者简介:

    盛沙(1976-),讲师,博士研究生,研究方向为机器人运动和智能控制,石油管道无损检测,shengsha@bipt.edu.cn

The Design and Walking Experiment for Leg Mechanism of A Quadrupedal Robot with 12 Degrees of Freedom

  • 摘要: 针对四足机器人研究中存在电机驱动不强和效率低的问题,采用耦合驱动的腿机构来构建四足机器人。设计了具有复合运动模式的耦合驱动髋关节,通过髋关节两个电机选取不同的旋转方向和速度,产生多角度的复合运动。运用此腿机构研制具有12个主动自由度的原型样机。根据静态稳定裕度,设计了机器人静态行走步态,运用分布式CAN总线搭建机器人的运动控制系统。实验证明:四足机器人运动平稳,一个运动周期移动距离为32 cm,单足抬起高度为4 cm,满足设计的要求。
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出版历程
  • 收稿日期:  2013-04-19
  • 刊出日期:  2015-03-05

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