A NEW METHOD OF MECHANISM SYNTHESIS FOR BIPED ROBOTS

来源期刊：中国有色金属学报(英文版)1997年第1期

论文作者：Tan Guanzheng Zhu Jianying

文章页码：152 - 156

Key words：biped robot ;mechanism synthesis h;armonic gear drive ;planet gear drive

Abstract: For a biped robot, the most essential components are its joints, including hip, knee, and ankle joints. In this paper, the construction method of a new type of joint is proposed. The main feature of this joint is that a combined transmission consisting of harmonic gear drive and planet gear drive is adopted in its system, and it possesses smaller volume, greater driving torque, and fine looking appearance. Using this type of joint, a practical biped robot named NAIWR I was constructed. Experiments with NAIWR I robot showed that the method of mechanism synthesis proposed in this paper was reasonable and feasible.