Structure Design and Movement Simulation of Bipedal Robot

被引：0

作者：

Lei, Liandong ^{[1
]}

Lu, Guiping ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Mech Engn, Zhuhai 519088, Guangdong, Peoples R China

来源：

PROCEEDINGS OF THE 3RD INTERNATIONAL CONFERENCE ON MATERIAL, MECHANICAL AND MANUFACTURING ENGINEERING | 2015年 / 27卷

关键词：

Biped walking robot; bionics; zero moment point; structure design;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Biped walking robot is designed based on the principle of bionicswhich can walk like a human. The biped robot can replace the prosthesis for the disabled, and it can also make the robot better to complete the dangerous or high-intensity work. This robot not only has characteristics of simple structure, multiple functions, and steady movement, but also can easily stand, squat, walk before and after, run and twist. The robot's movements are controlled by the hip joint, the knee joint, the ankle joint, and the lumbar vertebrae. The drive motor adopts MG996R servo with accurate motion, stable rotation and maximum torque of 15kg/cm. Finally the structure of robot is designed according to the theory of zero moment point. in the UG software, the parts are modeled and assembled, and then the biped walking simulation is realized. And then, the motion law of each particle is obtained.

引用

页码：2256 / 2260

页数：5