Motor Driving Leg Design for Bionic Crab-like Robot

Wang; Li-quan; Qu; Xiao-rong; Meng; Qing-xin; Yuan; Peng; Wang; Mo-nan

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Motor Driving Leg Design for Bionic Crab-like Robot

机译：仿生蟹状机器人的电机驱动腿设计

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摘要

The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.

机译：本文介绍了仿生蟹式机器人的行走腿的设计，用微伺服电机驱动。分析了仿生机的运动特性，用于优化的结构参数，该参数已用于机器人设计。还给出了用于联合驱动器的三个闭环电机控制系统结构，以及用于行走机器人腿的多关节驱动系统。

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来源
《哈尔滨工程大学学报：英文版》 |2002年第002期|P.72-7771|共7页
作者
Wang; Li-quan; Qu; Xiao-rong; Meng; Qing-xin; Yuan; Peng; Wang; Mo-nan;
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作者单位

College;

of;

Mechanical;

and;

Electrical;

Engineering,;

Harbin;

Engineering;

University,;

Harbin;

150001,;

China;

College;

of;

Mechanical;

and;

Electrical;

Engineering,;

Harbin;

Engineering;

University,;

Harbin;

150001,;

China;

College;

of;

Mechanical;

and;

Electrical;

Engineering,;

Harbin;

Engineering;

University,;

Harbin;

150001,;

China;

College;

of;

Mechanical;

and;

Electrical;

Engineering,;

Harbin;

Engineering;

University,;

Harbin;

150001,;

China;

College;

of;

Mechanical;

and;

Electrical;

Engineering,;

Harbin;

Engineering;

University,;

Harbin;

150001,;

China;

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原文格式 PDF
正文语种 CHI
中图分类机器人;
关键词
bionics; crab-liked; robot; joint; driver; servo; motor; three-closed-loop;

机译：仿生学;类螃蟹;机器人;关节;驱动程序;伺服;电机;三闭环;

Motor Driving Leg Design for Bionic Crab-like Robot

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