本文介绍了一种采用微型直流伺服电机驱动的仿生机器蟹步行腿设计及其运动学、动力学分析。

The paper presents the design of walking leg for bionics crab-liked robot, which is driving with micro servo motor.

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典型的机电一体化元、部件有：电力电子器件及装置、可编程序控制器、模糊控制器、微型电机、传感器、专用集成电路、伺服机构等。

Typical electromechanical integration yuan, components are: power electronic devices and devices, programmable logic controller, fuzzy controller, micro-motors, sensors, ASIC, servo institutions.

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阶段具有千分尺等级螺钉以及0.5毫米的引脚间距的特点，微型直线轴承和非接触式限位开关带有，任一步进机或直流伺服电机编码器的选择。

Stage features micrometer grade screw with lead pitch 0.5 mm, miniature linear bearing and non-contact limit switches with a choice of either stepper or DC servo motor with encoder.

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