论文部分内容阅读
在双足机器人的研究中,一个关键点就在于如何能够得到和人类相似甚至更优的关节传动效率。滚动膝关节思想的提出就是通过减小关节内部的摩擦从而降低能量损耗这一途径来实现关节传动效率的提高。基于此提出了一种基于滚珠丝杠传动的滚动膝关节设计方案,同时从运动学以及动力学角度进行了分析,确定了运动参数。此后应用CATIA软件实现该结构的三维建模,并进行运动学仿真。
In the study of biped robot, one of the key points is how to get the same or even better articulation efficiency as human. The idea of rolling the knee joint is to increase the efficiency of joint transmission by reducing the friction inside the joint to reduce the energy loss. Based on this, a rolling knee joint design scheme based on ball screw drive was proposed. At the same time, kinematics and dynamics were analyzed and the motion parameters were determined. Afterwards, CATIA software was used to realize the 3D modeling of the structure and kinematics simulation.