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A New Method of Mechanism Synthesis for Biped Robots

谭冠政

1996高技术通讯：英文版Engineering被引 1

摘要

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 geardrive and planet gear drive is adopted in its system,and it possesses smaller volume,greaterdriving torque,and fine-looking appearance.Using this type of joint,a practical biped robotnamed NAIWR-I was constructed.The computer simulations and experiments with NAI-WR-I robot show that the method of mechanism synthesis proposed in this paper is reason-able and feasible.

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