| 带缩放式腿的四足步行机器人的三足支撑步行的动力学分析 |
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| 引用本文： | 杨海兴,乐涵峰. 带缩放式腿的四足步行机器人的三足支撑步行的动力学分析[J]. 力学学报, 1992, 24(5): 604-613. DOI: 10.6052/0459-1879-1992-5-1995-780 |
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| 作者姓名： | 杨海兴 乐涵峰 |
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| 作者单位： | 上海交通大学 |
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| 摘 要： | 本文讨论带缩放式腿的四足步行机器人的三足支撑步行运动。采用半逆解法预先规定运动学补充条件进行运动学分析,应用达朗伯原理和若丹原理进行动力学分析,并附加优化条件解决“超静定性”困难。所分析的结果用于计算一个具体机器人的动力学问题。
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| 关 键 词： | 四足步行机器人 动力学 超静定 变结构 优化 |
DYNAMIC ANALYSIS OF THE WALKING SUPPORTED BY THREE FEET OF A QUADRUPED WALKING MACHINE WITH PANTOGRAPH LEGS |
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| Yang Haixing Le Hanfeng. DYNAMIC ANALYSIS OF THE WALKING SUPPORTED BY THREE FEET OF A QUADRUPED WALKING MACHINE WITH PANTOGRAPH LEGS[J]. chinese journal of theoretical and applied mechanics, 1992, 24(5): 604-613. DOI: 10.6052/0459-1879-1992-5-1995-780 |
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| Authors: | Yang Haixing Le Hanfeng |
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| Affiliation: | Shanghai Jiao Tong University |
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| Abstract: | The walking supported by three feet of a quadruped walking machine with-pantograph legs is discussed in this paper. The semi-inverse solution is supplied for the kinematic analysis. The kinematic supplementary conditions are determined in advance. D'Alembert's principle and Jourdain's principle are supplied for the dynamic analysis. The difficulty of statical indeterminateness is overcome by introducing the optimum conditions. The dynamic problems of an actual quadruped walking machine are calculated. |
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| Keywords: | quadruped walking machine dynamics statical indeterminateness unsteady structure optimization |
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