Mechanical Design of A Modular Quadruped Robot - XDog

被引：0
|
作者：
Xie, Huixiang [1 ]
Zhang, Zhixiong [1 ]
Shang, Jianzhong [1 ]
Luo, Zirong [1 ]
机构：
[1] Natl Univ Def Technol, Dept Mech Engn, Changsha, Hunan, Peoples R China
来源：
PROCEEDINGS OF THE 2014 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONIC, INDUSTRIAL AND CONTROL ENGINEERING | 2014年 / 5卷
关键词：
mechanical design; legged robot; quadruped robot; modular design; leg mechanism; WALKING;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This article presents the mechanical design of a modular quadruped robot, named XDog. The leg mechanism of XDog has coplanar hip joints with the leg apart from the body to increase the motion range of the hip joint. Gear pair is used to drive each joint to promise high motion accuracy and compact assembling. Based on the leg mechanism and driving type, only one actuator is mounted on the leg with others in the torso to reduce the mass of the leg. Moreover, the leg design is modularized in a bilateral way, making each leg is capable for left or right side, and for forward or backward direction of the body. The mechanical design of XDog robot has advantages in large range of joint motion, light-weight leg, compact and high-accuracy driving system, and modular leg mechanism, making this design practical for developing a quadruped robot platform.
引用
收藏
页码：1074 / 1078
页数：5
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