论文部分内容阅读
本文对六足步行机的全方位运动步态进行了探讨,提出了基于静态稳定性考虑的最佳步态的选择方案。就横向运动六足步行机的广义三角步态,分析了其静态稳定裕量、爬坡能力、越沟能力等运动性能,并给出了采用广义三角步态的横向运动六足步行机总体几何参数CAD的实例。
In this paper, the full-scale gait of the six-legged walking machine is discussed, and the optimal gait selection based on the static stability is proposed. In this paper, the generalized triangular gait of the transverse movement six-foot walking machine is analyzed, and its performance of static stability, climbing ability and cross-over capacity are analyzed. The general geometry of the transverse movement hexapod using the generalized triangular gait Example of parameter CAD.