文献类型：期刊文献

中文题名：双足步行机器人的下肢机构设计

英文题名：Leg Mechanism Design of Biped Walking Robots

作者：俞国燕[1];张世亮[1]

机构：[1]广东海洋大学工程学院,广东湛江524025

年份：2008

卷号：21

期号：1

起止页码：31

中文期刊名：机电产品开发与创新

外文期刊名：Development & Innovation of Machinery & Electrical Products

语种：中文

中文关键词：双足步行机器人;串并联结构;下肢机构

外文关键词：biped walking robots; serial and parallel structure ; legal mechanism

中文摘要：为使足行拟人机器人的下肢机构结构更加紧湊灵活,提出了一种串并联结构相结合的双足步行机器人下肢机构设计方案。在该方案中,设计了二自由度的并联机构作为十字交叉的二自由度关节结构,并用于二自由度的踝关节和两个方向转动的髋关节。设计了单自由度平面连杆机构用于膝关节和一个方向转动的髋关节。详细描述了足行机器人下肢机构的踝关节、膝关节和髋关节的结构设计,为双足机器人的步态控制打下基础。

外文摘要：In order to the legal mechanism of biped humanoid robot becomes more compact and flexible, a new scheme combined serial and parallel structure was proposed for leg design of biped robot. In the scheme, two-freedom parallel structure was designed as cruciate joint with two freedoms, and it was adopted in two freedom ankle joint and hip joint rotating in two directions. One-freedom plane connectingrod mechanism was designed as knee joint and hip joint rotating in one directions. Structure design of cruciate joint, knee joint and hip joint for the leg mechnaism of biped robot were described in detail, it provides walking control base of biped robot.