摘要
设计出了一种新型的三自由度缩放式的并联机构,并把该机构作为六足步行机器人的腿机构.采用闭环矢量法求解腿机构运动位置的正运动学问题,用MATLAB软件编写函数来求解腿机构的最大腿行程和最大抬跨高度/研究表明,原动件较小的位移可以获得较大的足端运动空间.
A new type of pantograph 3-DOF parallel mechanism is designed in this paper and it is used as the leg mechanism of the Hexapod Walking Robot. The closed loop vector method is employed to solve the kinematical equations of the leg mechanism, and MATLAB is employed to set the functions to calculate the maximum leg stroke and leg lift height. The study shows that a small displacement of the motion generator can make large motion space of the feet.
出处
《南昌工程学院学报》
CAS
2009年第4期4-7,共4页
Journal of Nanchang Institute of Technology
关键词
六足机器人
关节位姿
闭环矢量法
Hexapod Walking Robot
joint position
closed loop vector method
