Mechanism Configuration Design of multi-legged walking robots based on hand-foot-integrated function
(0) At present, most of multi-legged walking robots are still facing problems such as single function and maintainability. Walking robots are usually as a simple mobile platform. In order to expanding the application of the robot, the modular multi-legged walking robot based on hand-foot-integrated function is described in this paper. The robot not only can complete the walk but also can grasp the object by taking advantage of the legs griping function. In this paper, the design concept and structure of such robot are introduced in details. The amount, the shape and the DOF of finesse, the selection of drive mode and transmission mechanism are discussed. Two typical hand-foot-integrated structures which can finish this function are introduced, it contains clamp structures robot and underactuated articulated structures robot. Design issues of two typical structures are discussed.
multi-legged walking robot hand-foot-integrated function manipulator modular structure
Liangwen Wang Xinjie Wang Xuedong Chen Xiaohui Zhang Weigang Tang Duanqin Zhang
Department of Electro-mechanical Science and Engineering,Zhengzhou University of Light Industry, Zhengzhou, Henan Province, 450002, China
国际会议
哈尔滨
英文
1757-1761
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）