Stability Study of Anthropomorphic Robot Antares under External Load Action

International Conference on Information Technologies in Business and Industry 2016

计算机科学;经济学;工业技术

Kodyakov, A.S.^1 ; Pavlyuk, N.A.^1 ; Yu Budkov, V.^1 ; Prakapovich, R.A.^2

St. Petersburg Institute for Informatics and Automation, Russian Academy of Sciences, St.-Petersburg, Russia^1

United Institute of Informatics Problems, Minsk, Belarus^2

关键词: ANTARES;    External loads;    Lower leg;    Lower limb;    Stability study;    Structural elements;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/803/1/012074/pdf
DOI  :  10.1088/1742-6596/803/1/012074

来源: IOP

【 摘 要 】

The paper presents the study of the behavior of the major structural elements of the lower limbs of anthropomorphic robot Antares under the influence of different types of loads (torsion, fracture). We have determined the required values for actuators torques for motion of the robot in space. The maximum values of torques are 5 Nm and 5.2 Nm respectively, and are able to withstand the upper and lower leg structures.