【摘要】 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。更多还原

【Abstract】 A big challenge during the research of biped robot is how to obtain a transmission efficiency that reaches or even exceeds that of the human articulation.The idea of rolling knee articulation aims at achieving this goal by reducing the friction inside the articulation which will then decrease the energy loss.Based on this idea,this research presents a design of rolling knee with ball screw.Following the kinematical analysis and dynamic analysis,the kinematical parameters are determined.And then comes the 3D modeling of the entire knee articulation and the kinematical simulation.更多还原