ZHENG Cheng-yi1, ZHAO Qun-fei2, MA Pei-sun1, ZHANG Hui-qing1, GOU Zheng1
1. Research Institute of Robotics, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China; 2. Department of Automation, School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200030, China
Abstract：This paper presents an overall mechanism design for the biped walking-chair robot.New orthogonal joints used in the ankle joint and hip joint of the biped walking-chair robot make its mechanism simple and compact and improve accuracy in gait planning.A dynamics model of the robot is used to analyse the driving torque of each joint,and the driving power of motors are decided based on the analysis results.A damping system between the hip joint and the seat is considered and a model is proposed to analyse its effect on walking stability.Finally,a mechanical protector is designed for enhancing the safety of the passenger.
[1] 温旭,石宗英.基于SERCOS总线的两足步行机器人分布式运动控制系统[J].机器人,2001,23(5):416-420. [2] 周化平,冯正光.仿人步行机器人机构设计[J].电测与仪表,2005,42(2):9-12. [3] 刘金宝.基于DSP的HIT-Ⅳ型双足机器人关节控制器的研究[D].哈尔滨:哈尔滨工业大学,2003. [4] Zhao X,Huang Q,Peng Z,et al.Kinematics mapping and similarity evaluation of humanoid motion based on human motion capture[A].Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,USA:IEEE,2004.840-845. [5] Sugahara Y,Endo T,Lim H-O,et al.Design of a battery-powered multi-purpose bipedal locomotor with parallel mechanism[A].Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,USA:IEEE,2002.2658-2663. [6] Office of Information and Public Relations.Takanishi Laboratory of Waseda University and Tmsuk,supported by Fukuoka City and the Robotics Industry Development Council (RIDC),succeeded in walking a man-mounted robot on two legs up and down the stairs[EB/OL].http://www.waseda.jp/eng/news05/050429e.html,2005-04-28. [7] トヨタ自動車株式会社.搭秉型ロボツト[P].日本:2005-52897,2005 -03 -03. [8] Kaneko K,Kajita S,Kanehiro F,et al.Design of advanced leg module for humanoid robotics project of METI[A].Proceedings of the 2002 IEEE International Conference on Robotics & Automation[C].Piscataway,USA:IEEE,2002.38-45. [9] Kaneko K,Kanehiro F,Kajita S,et al.Humanoid robot HRP-2[A].Proceedings of the 2004 IEEE International Conference on Robotics & Automation[C].Piscataway,USA:IEEE,2004.1083-1090. [10] 姜培玉.两足机器人动态步行研究[D].西安:西北工业大学,2004. [11] 胡洪志.仿人步行机器人的运动规划方法研究[D].长沙:国防科学技术大学,2002. [12] 窦瑞军.类人型机器人稳定步态设计及动态步行研究[D].上海:上海交通大学,2002. [13] 吴福光,等.振动理论[M].北京:高等教育出版社,1987.21-30.
