MATEC Web Conf.
Volume 77, 20162016 3rd International Conference on Mechanics and Mechatronics Research (ICMMR 2016)
|Number of page(s)||5|
|Section||Computer Aided Technology|
|Published online||03 October 2016|
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.