摘要
抽象了仿袋鼠跳跃机器人多刚体机构模型,在此基础上,应用凯恩方法建立了仿袋鼠跳跃机构动力学方程,给出了袋鼠跳跃机器人运动过程各关节的驱动力矩的计算公式。并用MATLAB进行实例计算及仿真。
The multi rigid-body mechanism model ol bionic kangaroo-leaping robot was abstracted; taking this as a base and applying the Kane method to establish the dynamics equation of bionic kangaroo-leaping mechanism, and gives out the computation formulae of driving moment of each join in the kinematical course of kangaroo leaping robot. And calculation and simulation of a living example were carried out by the use of MATLAB.
出处
《机械设计》
CSCD
北大核心
2006年第11期19-21,共3页
Journal of Machine Design
基金
国家自然科学基金资助项目(50375120)
