A new design of three-legged robot of mechanical and control system - 文章详情页

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A　new　type　of　three-legged　robot　design　scheme　is　proposed　and　the　movement　control　of　it　is　studied　in　this　paper.　Spatial　crank　rocker　mechanism　(RSSR)　is　used　to　will　the　motor　rotation　into　a　leg　swinging　in　mechanical　design.　Advanced　reduced　instruction-set　computer　machines　(ARM)　chip,　wireless　communication　module　and　magnetic　encoder　are　used　in　controller　design.　Proportional　and　differential　(PD)　closed　loop　control　arithmetic　is　used　to　realize　the　control　of　the　robot.　The　robot　realizes　the　movement　of　straight　walk,　curve　walk,　turning　in　situ,　jumping　and　so　on.　It　has　a　broad　application　prospect.　©　2013　Trans　Tech　Publications　Ltd,　Switzerland.

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Controllers Design Motion control Wireless telecommunication systems

作者机构：

[ 1 ] [Cui, Hao Tian]Beijing University of Technology, Beijing, China
[ 2 ] [Yang, Wang]Beijing University of Technology, Beijing, China
[ 3 ] [Li, Qing Qing]Beijing University of Technology, Beijing, China
[ 4 ] [Yu, Yue Qing]Beijing University of Technology, Beijing, China
[ 5 ] [Ma, Li Zheng]Beijing University of Technology, Beijing, China
[ 6 ] [Wang, Yumo]Beijing University of Technology, Beijing, China

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