摘要
将Denavit和Hartenberg方法引入多步态跳跃机器人的稳定性研究,得到了机器人整体重心位置与各关节变量及结构参数的函数关系,从而做出系统重心在支撑平面内的投影图形。根据重心投影法判定机器人在静态站立和动态稳定运动时的重心范围,从而确定各关节的位姿,给出了相应的计算实例。
The Denavit-Hartenberg method is introduced into the stability research of a multigait hopping robot to determine the function relation between the center of gravity position of the whole robot and all joint varieties and the structure parameters. The COG projection in the support plane is plotted with computer numerical simulation. The COG projection area of the robot in stale state and dynamic motion is analyzed based on the COG Projection Method, and a calculation example is offered.
出处
《机械设计与制造》
北大核心
2007年第2期107-109,共3页
Machinery Design & Manufacture
