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专利名称: 一种仿人机器人腰部机构
其他题名: Bio-robot waist mechanism
作者: 赵铁军; 赵明扬; 王洪光
所属部门: 机器人学研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司
专利国别: 中国
专利类型: 发明
专利状态: 失效
摘要: 本发明涉及机器人工程,具体地说是一种仿人机器人腰部机构。它由两个差动轮系封闭传动机构、上下板、中间板、连杆、柔索组成,其中:两个差动轮系具有两个自由度,两个差动轮系传动封闭后仍具有两个自由度,两个差动轮系传动机构安装在下板上,第一~二连杆上端固定安装在中间板的中心轴线上,第一连杆下端与由第一~二电机共同驱动的第一输出轴连接,第二连杆下端铰连于下板,第三~四连杆与中间板及上板两端固接,于其中心轴线上,第一~二柔索两端分别固接于上板的中心轴线与由第一~二电机共同驱动的第二输出轴之间。本发明具有系统稳定性好、运动精度高、功耗小、变刚度运动范围大等特点。
英文摘要: The present invention relates to a robot waist structure. It comprises the two differential pulley system, the up-down board, the middle board, the connecting rod, and soft cable. In the structure the two differential pulley system have to free degrees whether closed or not, and them are installed on the down board. The first and the second connecting rod are fixed on the center axes, the down end of the first connecting rod is connected with the first output axes which is drove by the first and second electromotor, the down end of the second connecting rod is connected with the down board. The third and fourth connecting rod is installed between the middle board and the up board. The first and second soft cable are linked to the center axes of the up board and the second output axes thatis driven by the first and second electromotor.
优先权数据: CN20021009592
是否PCT专利:
申请日期: 2002-04-29
公开日期: 2003-11-12
授权日期: 2006-04-19
专利申请号: CN02109592.2
公布/公告号: CN1454752
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/13572
Appears in Collections:机器人学研究室_专利

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文件名: CN02109592.2.pdf
格式: Adobe PDF
文件名: CN02109592.2授权.pdf
格式: Adobe PDF
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