摘要
以基于切比雪夫连杆腿部机构的四足机器人为原型,建立了其足端的运动轨迹方程,并推导出速度方程;分别从静态及动态两种步态对单自由度四足机器人的稳定性进行研究,给出了各种步态下保持平衡行进的稳定判据;并通过Adams仿真进行了验证。
Inspired by the Chebyshev＇ s link-age,this paper constructs a quadruped robot con-sists of four 1 - Degree - of - Freedom（ 1 - DOF）legs. 2＋ Kinematic analysis has been carried out inorder to evaluate the position and velocity of eachfoot, then analyze both static stable walking gaitand dynamic gait, and discuss the impacts of differ-ent gait on stability margin. A stability criterion e-quation has given for each gait,and a simulation ofAdams illustrated the proposed result.
出处
《机械与电子》
2015年第2期65-69,共5页
Machinery & Electronics
