摘要
综合了用作步行机构的缩放机构的原理及运动特性,提出了步行机对足端轨迹的要求,进行了详细的讨论,给出了适合于缩放式腿的足端轨迹规划方法,采用了两端插值中间过渡的规划手段,提高了步行机的节能性和适应性。
This paper we synthesize the principle and kinematics of a pan tograph mechanism for walking robot,presented the requirement of walking robot for the trajectory of the foothold,and discussed it in detail.A method for interpolating in two sides and linking in midd- le of the trajectory of pantograph legged mechanism is give.This decreases the engry of walking robot,and increases the suitability.
出处
《光学机械》
CSCD
1992年第3期37-42,共6页
基金
国家自然科学基金
