摘要
本文首先根据移动耗能率的定义,推导了两种不同模型腿足机构的步行机移动耗能率计算公式.再用计算机模拟计算得到了不同参数下的移动耗能率曲线.最后得到的主要结论是:(1)对相对坐标系型腿足机构来说,哺乳动物型姿态比昆虫型姿态在能效特性上优越.(2)对机体坐标系型腿足机构来说,在相对步距为0.1到0.6m 的范围内昆虫型姿态优越;而在相对步距为0.7到1.0m 的范围内哺乳动物型姿态优越.
First in this paper,based on the definitions of specific resistance,the formulae of leg and foot mech-anism with two different models were derived.By means of computer simulation,the curves of specific re-sistance under different parameters have been obtained.The final conclusions are the followings:(1)Forthe mechanism of RCS models,the carriage of mammals is superior to that of insects.(2)For the mecha-nism of BCS models,when the relative step distance ranges from 0.1 to 0.6,the carriage of insects isbetter;when the relative step distance ranges from 0.7 to 1.0,the carriage of mammals is better.
出处
《机器人》
EI
CSCD
北大核心
1989年第5期43-48,共6页
Robot
关键词
机器人
步行机
能量效率
计算机
walking vehicle
leg and foot mechanism
spscific resistance
