Motor driving leg design for bionic crab-like robot

Li-quan Wang; Xiao-rong Qu; Qing-xin Meng; Peng Yuan; Mo-nan Wang

doi:10.1007/BF02935844

Journal of Marine Science and Application ›› 2002, Vol. 1 ›› Issue (2) : 72 -77. DOI: 10.1007/BF02935844

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Motor driving leg design for bionic crab-like robot

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Abstract

The paper presents the design of walking leg for bionics crab-like robot, which is driven with micro servo motor. The kinematic characteristics of the bionics machine are analysed for optimized structure parameters, which has been used in the robot design. A three closed loop motor control system structure for joint driver is also given, as well as the multi-joint driving system for walking robot leg.

Keywords

bionics crab-liked robot / joint driver / servo motor / three-closed-loop

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Li-quan Wang,Xiao-rong Qu,Qing-xin Meng,Peng Yuan,Mo-nan Wang. Motor driving leg design for bionic crab-like robot. Journal of Marine Science and Application, 2002, 1(2): 72-77 DOI:10.1007/BF02935844

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References

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