拓扑结构随运动变化的关节式步行机器人动力学普遍方程的建立

FORMULATION OF DYNAMICAL EQUATION OF MULTI BRENCH WALKING MECHANISM WHOSE TOPOLOGY CHANGES DURING ITS MOTION

本文研究了系统拓扑结构随运动变化的多分支步行机构动力方程的建立方法．文中在对系统结构特征定义的基础上，将结构特征统一于约束方程，进而应用ＤＡｌｅｍｂｅｒｔ原理建立了嵌入结构特征的步行机器人机构动力学普遍方程．

A method for constructing dynamical equations governing of walking robot whose topology changes during its motion is presented. Basing on defining the topological characteristic of the mechanism, the method integrates it with constraint equations, and formulates the dynamical equations with topological characteristic by using DAlembert theorem. Finally, a numerical example is given.