Transmission Mode Research on the Joints of a Multi-Legged Walking Robot

摘要

In order to obtain an optimal transmission scheme for the joints of supported leg of a multi-legged walking robot, the experience, which comes from the research of a large-scale six-legged heavy-duty walking robot, is used for reference. Five kinds of transmission schemes are respectively listed, and they are respectively analyzed in detail. Based on the comprehensive performance comparison, the listing approach is employed to synthetically compare on excellences and shortcomings among transmission schemes. The best transmission scheme is obtained through the comparative analysis, which provides technique support for the design and analysis on the multi-legged walking robot.