论文部分内容阅读
本文对全方位六足步行机器人步行中所涉及的步态规划、步行算法及步行软件,稳定性分析、能耗分析等问题进行了深入地研究.首先依据相对运动学原理建立全方位六足步行机器人的运动学。并对其工作空间进行了详细地分析,接着讨论了步行机器人的单腿静力学分析及多腿触地情况下足端力的分力求解问题.把 M-P 广义逆与求解超静定力问题的解法相结合,对足端力的分布特性及求解方法进行了研究.
In this paper, the gait planning, walking algorithm, walking software, stability analysis, energy consumption analysis and other issues involved in the walking of all six-footed walking robots are deeply studied.First, based on the principle of relative kinematics, Robot kinematics. And analyzed its work space in detail, and then discussed one-leg static analysis of walking robots and the problem of solving the component force of foot-end force under the condition of multi-leg touchdown.The MP generalized inverse and the problem of solving super-static force Solution method, the distribution characteristics of foot force and solution method were studied.