摘要
本文提出了一种基于尺寸均分的双足竞步机器人结构设计方法,以CDS5401舵机为关节驱动器,PCB板为连接件,本体结构前后排布轴对称,膝关节至底面高度与胯关节至顶面高度轴对称,实现机器人卧倒、前翻、后翻、直立行走等多种功能。比较了交叉足印机器人和狭窄足印机器人在设计思路上的异同,从足部、膝部、胯部、腰部到其余各个部分均给出了详细的设计方案。两款双足竞步机器人经中国机器人大赛检验,效果显著,成绩良好。
This paper proposes a structural design method for a biped heel-and-toe robot based on average size, with CDS5401 steering gear as its joint actuator and PCB board as its connector.Its body structure is axisymmetric from its front part to its back part, and the height between its knee joint and the bottom and that between its hip joint and the top are also axisymmetric,which helps to realize various functions of the robot, such as lying down, rolling forward, rolling backward and walking upright. This paper also compares the similarities and differences of design ideas between cross-footprint robots and narrow-footprint robots,and gives an in-depth design scheme from their feet, knees, hips and waists. The two types of robots performed well in China＇s National Robot Competition.
出处
《科教文汇》
2016年第12期184-185,190,共3页
Journal of Science and Education
基金
浙江科技学院科研基金(2014XJYB15)
