| 具有手脚融合功能的多足步行机器人结构设计 |
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| 引用本文： | 王良文,王新杰,陈学东,唐维纲. 具有手脚融合功能的多足步行机器人结构设计[J]. 华中科技大学学报(自然科学版), 2011, 0(5): 18-22 |
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| 作者姓名： | 王良文 王新杰 陈学东 唐维纲 |
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| 作者单位： | 华中科技大学数字制造装备与技术国家重点实验室;郑州轻工业学院机电工程学院; |
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| 基金项目： | 国家自然科学基金资助项目(50875246) |
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| 摘 要： | 为了拓展多足步行机器人的应用,开发了具有手脚融合功能的模块化多足步行机器人.该机器人至少1支腿既可以行走又可以抓取物体,具有手脚融合功能.抓取物体时,利用3条腿支撑身体,具有手脚融合功能的腿作为能抓取物体的机械手,行走时该腿就执行脚的功能.机器人由机体模块、行走腿结构模块、手脚融合腿部结构模块、控制模块等组成.各模块之间方便联结与扩展.在物理样机上进行了相关试验,结果表明该机器人能够行走和抓取特定目标物,实现了手脚融合功能.
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| 关 键 词： | 机器人 融合 机械手 模块化 结构 |
Structure design of multi-legged walking robots with integrated functions of hands and feet |
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| Wang Liangwen, Wang Xinjie Chen Xuedong, Tang Wei gang. Structure design of multi-legged walking robots with integrated functions of hands and feet[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2011, 0(5): 18-22 |
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| Authors: | Wang Liangwen Wang Xinjie Chen Xuedong Tang Wei gang |
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| Affiliation: | Wang Liangwen1,2 Wang Xinjie2 Chen Xuedong1,2 Tang Wei gang2(1 State Key Laboratory of Digital Manufacturing Equipment and Techn ology,Huazhong Universityof Science and Technology,Wuhan 430074,China,2 Department of Electro-mechanical Scienceand Engineering,Zhengzhou University o f Light Industry,Zhengzhou 450002,China) |
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| Abstract: | In order to expand the application of the robot,the mo dular multi-legged walking robots with integrated functions of hands and feet w ere described.It can walk and crawl both objects using at least 1 leg with a fo ot fusion.When grab objects,3 legs were used to support the body.Fusion funct ion with the hands and feet in the leg makes the robot grab objects and the leg performs the functions of feet when walking.The robot has a modular structure, which is made up of the body,walking legs,hand-foot-integrat... |
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| Keywords: | robots integrated manipulators modular str ucture |
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