两足步行椅机器人的机构设计

Mechanism Design of a Biped Walking-chair Robot

  • 摘要: 主要介绍了两足步行椅机器人的整体机构设计.在踝关节和髋关节处,采用了一种新型多自由度正交关节设计,使得机器人结构紧凑,提高了步态规划的精度.利用两足步行椅机器人动力学模型,分析了各关节的驱动力矩,以此确定了驱动电机的功率.在髋关节和座椅之间设计了减震系统,并建立了减震系统模型,分析了减震系统对于步态稳定性的作用.最后,为保证乘坐者的安全,从机构的角度设计了机械式保护装置.

     

    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.

     

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