| 引用本文: | 李栋成,杨昂岳.机器人步行腿机构的动力分析.[J].国防科技大学学报,1991,13(1):96-99.[点击复制] |
| Li Dongcheng,Yang Angyue.Dynamic Analysis of Field Robot's Step-legs[J].Journal of National University of Defense Technology,1991,13(1):96-99[点击复制] |
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| 机器人步行腿机构的动力分析 |
| 李栋成, 杨昂岳 |
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(精密机械与仪器系)
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| 摘要: |
| 本文根据力的叠加原理，采用拆杆拆副法，对一平面闭式多杆步行腿机构进行了较为全面的动力分析，得出了一个运动循环内原动曲柄的输入力矩及各运动副处的约束反力线图，为该机构的驱动、控制及进一步的改型设计提供了必不可少的计算依据。线图分析表明：该机构节省能量，力学性能较好，有良好的应用前景。 |
| 关键词: 机器人，机构，动力分析，步行腿，闭式多杆机构，动态静力分析 |
| DOI： |
| 投稿日期：1989-12-22 |
| 基金项目:国家自然科学基金资助项目 |
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| Dynamic Analysis of Field Robot's Step-legs |
| Li Dongcheng, Yang Angyue |
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(Department of Precision Mechinery and Instrumentation)
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| Abstract: |
| By dividing some kinematic pair from links，this paper has made a comprehensive dynamic analysis of a planar closed multiple mechanism，which may be used as a field robot's step-leg mechanism，and We have obtained a11 the input moment of the master crank and the constrained force in every kinematic pair in a period. All of these make it possible to control，drive and modify the robot's step-leg mechanism in future. |
| Keywords: robot,mechanism,dynamic analysis,step-leg,closed multiple mechanism,dynamic static analysis |
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