步行机动力学操作性的研究及机构参数的优化

Dynamic Manipulability Analysis and Parameter Optimization of Walking Machine

本文的目的是为研究步行机在目标空间的动力学性能提供一个系统的研究方法。文中引进了步行机的动力学操作椭球和动力学操作性的性能指标。最后应用这个动力学性能指标对空间多关节六足步行机的机构参数进行了优化。

The aim of this article is to provide a systematic method to perform dynamic analysis in the task space for walking machine.The dynamic manipulability ellipsoid is established and the Dynamic Manipulability Index is introduced.In the final,the walking machine's optimal mechanism and walking parameters are obtained through numerical analysis by using this index.