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Bio-robot waist mechanism
Authors
王洪光
赵明扬
赵铁军
Publication date
12 November 2003
Publisher
Abstract
本发明涉及机器人工程,具体地说是一种仿人机器人腰部机构,由两个差动轮系封闭传动机构、上下板、中间板、连杆、柔索组成,两个差动轮系具有两个自由度,两个差动轮系传动封闭后仍具有两个自由度,两个差动轮系传动机构安装在下板上,第一、二连杆上端固定安装在中间板的横向中心轴线上,第一、二连杆下端铰连于下板的横向中心轴线上,第三、四连杆处于同一水平面的下端与中间板固接,处于同一水平面的上端与上板铰接,第三、四连杆两端分别连接在中间板与上板的纵向中心轴线上,第一、二柔索两端分别固接于上板的横向中心轴线与由第一、二电机共同驱动的第二输出轴之间。本发明具有系统稳定性好、运动精度高、功耗小、变刚度运动范围大等特点
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Last time updated on 29/11/2016