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Alternative TitleAnthropomorphic robot waist mechanism
赵铁军; 赵明扬; 王洪光
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利代理有限责任公司
Other AbstractThe utility model relates to the robot engineering, in particular to an anthropomorphic robot waist structure, and comprises enclosed transmission mechanisms of two differential gearing systems, an upper and a lower plates, an intermediate plate, connecting rods, and soft cables. The utility model is characterized in that the two differential gearing systems are provided with two free degrees, after the transmission of the two differential gearing systems is enclosed, two free degrees are still provided, the enclosed transmission mechanisms of the two differential gearing systems are mounted on the lower plate, the upper ends of a first and a second connecting rods are fixedly mounted on a central axis of the intermediate plate, the lower end of the first connecting rod is connected with a first output shaft which is jointly driven by a first and a second motors, the lower end of the second connecting rod is hinged on the lower plate, a third and a fourth connecting rods are connected with two ends of the intermediate plate and the upper plate for being arranged on the central axis, two ends of a first and a second soft cables are respectively and fixedly connected between the central axis of the upper plate and a second output shaft which is jointly driven by the first and the second motors. The utility model has the characteristics of good stability of the system, high kinematic accuracy, low power consumption, and large range of variable-rate motion and the like.
PCT Attributes
Application Date2002-04-29
Date Available2003-02-19
Application NumberCN02211549.8
Open (Notice) NumberCN2536361Y
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
赵铁军,赵明扬,王洪光. 仿人机器人腰部机构[P]. 2003-02-19.
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