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A new-style bionic walking mechanism and its motion simulation
Wang YM(汪永明); Yu XL(余晓流); Chi RH(迟荣海); Tang WC(汤文成)
作者部门机器人学研究室
会议名称2nd International Conference on Intelligent Computation Technology and Automation
会议日期October 10-11, 2009
会议地点Changsha, Hunan, China
会议主办者IEEE Intelligent Computation Society; IEEE Computer Society; Res. Assoc. Intelligent Computation Technology and Automation; Changsha University of Science and Technology; Hunan University of Science and Technology
会议录名称ICICTA: 2009 SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL IV, PROCEEDINGS
出版者IEEE Computer Society
出版地LOS ALAMITOS
2009
页码941-944
收录类别EI ; CPCI(ISTP)
EI收录号20095112564403
WOS记录号WOS:000275861900228
产权排序2
ISBN号978-0-7695-3804-4
关键词Computer Science Computer Software Epicyclic Gears Intelligent Computing Locomotives Railroad Cars
摘要Based on the principle of double-half-revolution mechanism, this paper designed a new-style bionic walking mechanism by using two tandem planetary gear trains, which is composed of one first swiveling arm, one second swiveling arm, two striding rods and mechanism bracket, etc. The first swiveling arm and second swiveling arm are the planet carriers (also as gearbox casings) of the planetary gear trains respectively. On the basis of analysis of interference and motion coupling relationship of joints, non-interference condition of the bionic walking mechanism was obtained. Motion simulation was done in COSMOS Motion software, and the motion path curves of rotating joints of the bionic walking mechanism were obtained. Simulation shows that the fluctuation of the bionic walking mechanism is small and it meets the mobility of exploration. 
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10516
专题机器人学研究室
作者单位1.School of Mechanical Engineering, Southeast University, Nanjing, China
2.School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, China
3.State Key Laboratory of Robotics, Shenyang, China
推荐引用方式
GB/T 7714
Wang YM,Yu XL,Chi RH,et al. A new-style bionic walking mechanism and its motion simulation[C]//IEEE Intelligent Computation Society; IEEE Computer Society; Res. Assoc. Intelligent Computation Technology and Automation; Changsha University of Science and Technology; Hunan University of Science and Technology. LOS ALAMITOS:IEEE Computer Society,2009:941-944.
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