摘要
将一种空间闭链RSTR机构应用到步行机设计中,通过对该机构进行运动分析,借助Pro/E仿真,得出步行机的足端运动轨迹曲线,并与现有的一种平面曲柄摇块步行机器人运动轨迹曲线进行了比较。结果表明,RSTR步行机在行走过程中,重心较平稳,速度也较均匀。由于RSTR步行机采用的是单自由度闭链机构,因此,它比多自由度空间开链机构的步行机控制简单。
A type of spatial closed chains of RSTR was applied in the walking robot design. By kinematical analysis and simulation with Pro/E, the track of the walking robot was given. Compared with the track of a planar crank mechanism, the conclusion is drawn, the walking robot presented here, has stability of barycenter and even velocity; and it has simpler control due to using single degree of freedom and closed chain mechanism.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第23期2131-2134,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50475161)
教育部科学技术研究重点项目(104043)
关键词
空间机构
步行机
仿真
行走性能系数
spatial mechanism
walking robot
simulation
walking performance coefficient
