摘要
在介绍混合输入五杆机构输出轨迹可调的基础上,将混合输入五杆机构用作步行机器人腿部机构来提高其步行能力与柔性;同时将机器人控制系统、元器件、传感器密封在机体中,通过动密封轴传动驱动腿部机构实现步行,从而增强步行机器人的环境适应性。
Base on the adjustable output track of the Hybrid input Five bar mechanism, we applied the Hybrid input five-bar mechanism as the legs of a walking robot in this paper to enhance the abilities of its walking. And then all the control elements of the robot were airproofed in the robot inside to improve the flexibility of condition to the walking robot, and it drove the five-bar mechanism to walk by the technology of shaft transmission in the way of moved airproofed.
出处
《机械》
2006年第12期15-16,30,共3页
Machinery
关键词
混合输入
动密封
轴传动
Hybrid input
airproof
shaft transmission.
