摘要
多足步行机器人腿机构的运动学研究查选芳，张融甫（南京航空航天大学机械工程系，南京２１００１６）（东南大学机械工程系，南京２１００１８）由于空间缩放机构在运动主平面内具有解耦性、易于控制、具有较高的能效性以及当缩放比大于１时能以较小的本体实现较大的运动...
This Paper deals with the kinematics analysis of cylindric coordinate pantographic mecha-nism with eccentricity between its main motion plane and its vertical rotational axis ued for I-type andM-type multilegged walking robets, including peitive and inverse solution of kinematics,practicalworking space,singularlty,etc,Some useful calculating formulae and conclusions can be ued for thestructural design,kinematics charactemtics analysis,and motion control of multdegged walking robots.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1995年第2期103-107,共5页
Journal of Southeast University：Natural Science Edition
基金
"863"智能机器人主题沈阳网点实验室基金
航空院校科研基金
