新型三肢体腿臂融合机器人的研制

doi:10.13190/jbupt.201204.99.fanjzh

北京邮电大学学报 ›› 2012, Vol. 35 ›› Issue (4): 99-102.doi: 10.13190/jbupt.201204.99.fanjzh

新型三肢体腿臂融合机器人的研制

樊继壮1,2,李立毅1,赵杰2

1.哈尔滨工业大学电气工程及自动化学院 2. 哈尔滨工业大学机电工程学院

收稿日期:2011-10-12 修回日期:2011-11-18 出版日期:2012-08-28 发布日期:2012-07-08
通讯作者: 樊继壮 E-mail:fanjizhuang@hit.edu.cn
作者简介:樊继壮（1976-），讲师，博士，E-mail：fnajizhuang@hit.edu.cn
基金资助:
国家高技术研究发展计划项目（2006AA04Z220）；哈尔滨工业大学科研创新基金项目（HIT.NSRIF.2009016）；哈尔滨市科技创新人才研究专项资金项目（2008RFQXG051）

Design of Three-Limb Robot with Integrated of Arm-Leg Mechanism

FAN Ji-zhuang1,2,LI Li-yi1,ZHAO Jie2

1.School of Electrical Engineering and Automation, Harbin Institute of Technology2.School of Mechanical and Electrical Engineering, Harbin Institute of Technology

Received:2011-10-12 Revised:2011-11-18 Online:2012-08-28 Published:2012-07-08

摘要/Abstract

摘要：

基于功能仿生原理研制了一种新型三肢体腿臂融合机器人. 通过在每个肢体末端配置永磁吸附足和操作器，使机器人可利用肢体分时复用完成移动和操作任务，并具有多种灵活的移动步态和操作方式. 通过机器人的基本运动步态实验及操作物品实验，验证了所研制机器人的实用性.

关键词: 肢体机器人, 腿臂融合, 步态规划, 控制系统

Abstract:

A three-limb robot with integrated of armleg mechanism is developed based on functional bionics. The robot can accomplish locomotion and operation tasks in time sharing multiplex mode with aid of permanent magnet absorption mechanisms and operation mechanisms mounted on each limb, and has a variety of agile walking gaits and operation patterns as well. Experiments of fundamental walking gaits and objects operation shows practicality. 

Key words: limbs robots, integrated of armleg, gait planning, control system

中图分类号:

TN24.2

樊继壮李立毅赵杰. 新型三肢体腿臂融合机器人的研制[J]. 北京邮电大学学报, 2012, 35(4): 99-102.

FAN Ji-zhuang,LI Li-yi,ZHAO Jie. Design of Three-Limb Robot with Integrated of Arm-Leg Mechanism[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2012, 35(4): 99-102.

参考文献

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新型三肢体腿臂融合机器人的研制

Design of Three-Limb Robot with Integrated of Arm-Leg Mechanism

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