| 六足机器人横向行走步态研究 |
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| 引用本文： | 刘连蕊,张泽,高建华.六足机器人横向行走步态研究[J].浙江理工大学学报,2011,28(2). |
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| 作者姓名： | 刘连蕊 张泽 高建华 |
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| 作者单位： | 浙江理工大学机械与自动控制学院,杭州,310018 |
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| 摘 要： | 以一种新型的多自由度六足机器人机构为对象,研究其横向行走步态,规划一种横向行走的三角步态,并完成了足端轨迹规划和稳定性分析.最后采用Pro/E和ADAMS等软件相结合的方式对六足机器人的样机模型进行运动学仿真与分析,结果证实了该横向行走步态的可行性,为接下来的物理样机实验提供了依据.
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| 关 键 词： | 六足步行机器人 横向行走三角步态 稳定性 虚拟样机 步态规划 |
Research on Laterally Walking Gait of Hexapod Robot |
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| LIU Lian-rui,ZHANG Ze,GAO Jian-hua.Research on Laterally Walking Gait of Hexapod Robot[J].Journal of Zhejiang Sci-tech University,2011,28(2). |
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| Authors: | LIU Lian-rui ZHANG Ze GAO Jian-hua |
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| Affiliation: | LIU Lian-rui,ZHANG Ze,GAO Jian-hua(School of Machinery and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China) |
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| Abstract: | The laterally walking gait of hexapod walking robot has been researched based on a new type of multi-DOF hexapod robot mechanism.The planning of a laterally walking tripod gait and foot trajectory,the analysis of stability are all completed.The kinematical simulation and analysis of the hexapod robot model have been done by using Pro/E and ADAMS at the end.The laterally walking gait proved feasible by the simulation results.This can provide foundation for the experiment of physical prototype. |
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| Keywords: | hexapod walking robot laterally walking tripod gait stability virtual prototype gait planning |
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