着重讨论了直接影响结构尺寸和重量的各关节轴上平衡力短的计算方法。
The discussion has been laid stress on the calculation method of balancing moment on each joint axle which affects directly on dimensions and weights of the structure.
根据气压膝关节机构优化后的结构尺寸，对气压膝关节进行结构设计，并对气压控制元件依据规范进行合适的选用。
This paper designs the structure of the pneumatic knee-mechanism according to the optimized size and picks out the optimum pneumatic control unit based upon the criterion.
各关节驱动电机的选择满足了机器人本体本身的重量尺寸大和负载有限对电机输出力矩大、重量轻、体积小的要求。
Because of the large size and weight, limited payload of the body, the joint-driving motors have to be powerful, small in size and light in weight.
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