摘要
对五足步行机攀登桁架运动进行了详细的分析，提出了一种实用攀登步态；在此基础上，针对不等间距桁架，建立了其攀登运动模型及相应的算法。该方法不仅可直接应用于五足步行机在不等间距桁架上的攀登运动规划，而且还可作为五足步行机攀登桁架的运动条件，对于步行机在具有不连续落足区的非结构地形下的运动研究也具有普遍指导意义。通过一组典型攀登环境对算法进行了计算机仿真和攀登实验，结果表明该理论分析和相应算法是正确可行的。
In according to the structure of a five legged walking machine and the force
distribution which is produced in the course of climbing ladder,this paper analyzes the climbing
ladder motion of the walking machine in detail and proposes a practical climbing gait.The model
of climbing motion on the most general ladder with unequal interval is built.The method can not
only be applied to the climbing motion on the ladder with unequal interval,but also derive the
condition of climbing ladder motion for the five legged walking machine to plan the motion on
the unstructured terrain with uncontinuous landing area.The simulation and experimental
results in a typical climb environment are presented,which confirm that the kinematics analysis
and the algorithm in the paper are correct and feasible.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第4期439-442,共4页
China Mechanical Engineering
基金
国家自然科学基金
清华大学科学研究基金
