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设计一种基于平面连杆机构的仿王蜥水上行走运动机理的机器人驱动结构。对该结构进行自由度分析及轨迹计算。通过计算在不同驱动速度和不同脚掌面积下,水对脚掌产生的作用力、支撑力和驱动力,验证设计的可行性。
A robot driven structure based on planar linkage mechanism was designed to simulate the waterborne movement of the king lizard. The structure of freedom analysis and trajectory calculation. By calculating the different driving speed and different foot area, the water on the foot of the force, support and driving force to verify the feasibility of the design.