中國(guó)有色金屬學(xué)報(bào)(英文版)
Transactions of Nonferrous Metals Society of China
| Vol. 7 No. 1 March 1997 |
（1.Institute of Robotics; Central South University of Technology; Changsha 410083
2.Department of Mechanical Engineering; Nanjing University of Aeronautics and Astronautics; Nanjing 210016）
Abstract:For a biped robot, the most essential components are its joints, including hip, knee, and ankle joints. In this paper, the construction method of a new type of joint is proposed. The main feature of this joint is that a combined transmission consisting of harmonic gear drive and planet gear drive is adopted in its system, and it possesses smaller volume, greater driving torque, and fine looking appearance. Using this type of joint, a practical biped robot named NAIWR I was constructed. Experiments with NAIWR I robot showed that the method of mechanism synthesis proposed in this paper was reasonable and feasible.
Key words: biped robot mechanism synthesis harmonic gear drive planet gear drive
