论文部分内容阅读
本文综合了用于六足步行机器人步行机构的圆柱型缩放机构的运动学及动力学研究,详细讨论了该机构的运动轨迹规化问题,给出了机构的位置控制参数求解的方法。
In this paper, the kinematics and dynamics of the cylinder-type zooming mechanism used in the walking mechanism of six-legged walking robot are summarized. The trajectory regularization of the mechanism is discussed in detail, and the method of solving the position control parameters of the mechanism is given.