Mechanical Engineering of Leg Joints of Anthropomorphic Robot
1 SPIIRAS 39, 14 line, St. Petersburg, 199178, Russia
2 SUAI, 67, Bolshaya Morskaia str., St. Petersburg, 190000, Russia
The problem of design engineering of anthropomorphic robot legs is considered. An overview of the existing anthropomorphic robots and an analysis of servomechanisms and bearing parts involved in the assembly of robot legs are presented. We propose an option for constructing the legs of the robot Antares under development. A two-motor layout, used in the knee, ensures higher joint power along with independent interaction with the neighboring upper and lower leg joints when bending. To reduce the electrical load on the main battery of the robot, the upper legs are provided with a mounting pad for additional batteries powering servos. Direct control of the servos is also carried out through the sub-controllers, responsible for all 6 engines installed in the articular joints of the robot legs.
© The Authors, published by EDP Sciences, 2016
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