摘要
本文从能量最省的观点出发,对步行机腿机构进行结构功能分析,由此提出两类机构“评判准则”,并用它们对连杆数较少,作直线运动的平面闭链连杆机构加以评价、筛选.最后得到较好满足准则的那些机构,它们可供研究步行机腿机构时选用.文章中提出的第一类“评判准则”中包括对所研究机构范围的限制,以及步行机腿的结构和功能要求.这类准则是腿机构必须满足的.第二类“评判准则”中主要是一些性能评价条件,为了使步行机腿机构更有效地工作,它们最好要得到满足.
Kincmatic structure and function are taken into consideration in legged mechanisms studying from avicwpoint of less energy consumption.Two classes of criteria have been used in evaluating and choosinglegged mcchanism which belongs to closed loop planar linkages and has few number of links.The first oneof the criteria states the limitation of the mechanisms,the reguircment of kinematic structure and the func-(?)on of the leg.And the propcrty cvaluation is included in the second criteria.
出处
《机器人》
EI
CSCD
北大核心
1989年第1期47-52,共6页
Robot
关键词
步行机
腿机构
机器人
walking vchicle
robot
mechanism
configurational synthesis
