摘要
本文介绍了一种新型足－掌机构，利用该机构可以解决多足爬壁机器人从地面向壁面过渡行走的难题．通过对机构的运动学正、逆问题的求解，推导出足端的工作空间以及可达的极限位置，同时对机构进行了受力分析，为规划多足爬壁机器人地壁过渡行走。
This paper presents a new kind of leg mechanism with which the wall climbing robot can easily fulfill the automatic ground to wall transition. To get its working envelope and limit position, the forward/inverse kinematics and the statics of the mechanism are solved. All of these lay the foundation for ground to wall transition gait programming, mechanism parameter selection and optimization.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
1997年第1期67-73,共7页
Journal of Shanghai University:Natural Science Edition
