DESING AND REALIZATION OF THE MERO MODULAR WALKING ROBOT PARTⅠ

摘要

In the recent years, walking vehicles have been studied because the industrial plants, the mechanized agriculture and other fields increasingly require that the robots possessed a walking mechanism to replace the humans. At the Polytechnic University of Bucharest has been developed a walking modular robot to handle farming tools. This paper describes such a walking modular robot. The mechanical structure of the walking robot can be represented as a complex system of bodies assembled by kinematic pairs. Using hydraulic actuators can generally drive systems of this size and weight more efficiently. This walking robot has three two-legged modules. Every leg has three freedom degrees and a tactile sensor to measure the contact, which consists of lower and upper levels. The body of the MERO (MEchanism RObot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic drives and are equipped with potentiometeric sensors. They are to control a walking robot in the adaptability to a natural ground.