| 步行机能量效率问题的计算机辅助研究 |
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| 引用本文： | 俞昌雄,干东英.步行机能量效率问题的计算机辅助研究[J].机器人,1989,3(5):43-48. |
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| 作者姓名： | 俞昌雄 干东英 |
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| 作者单位： | 中国科学院长春光学精密机械研究所
(俞昌雄)，中国科学院长春光学精密机械研究所(干东英) |
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| 摘 要： | 本文首先根据移动耗能率的定义,推导了两种不同模型腿足机构的步行机移动耗能率计算公式.再用计算机模拟计算得到了不同参数下的移动耗能率曲线.最后得到的主要结论是:(1)对相对坐标系型腿足机构来说,哺乳动物型姿态比昆虫型姿态在能效特性上优越.(2)对机体坐标系型腿足机构来说,在相对步距为0.1到0.6m 的范围内昆虫型姿态优越;而在相对步距为0.7到1.0m 的范围内哺乳动物型姿态优越.
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| 关 键 词： | 机器人 步行机 能量效率 计算机 |
COMPUTER AIDED STUDY ON ENERGETIC EFFICIENCIES OF A WALKING VEHICLE |
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| YU Changxion,GAN Dongying.COMPUTER AIDED STUDY ON ENERGETIC EFFICIENCIES OF A WALKING VEHICLE[J].Robot,1989,3(5):43-48. |
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| Authors: | YU Changxion GAN Dongying |
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| Abstract: | First in this paper,based on the definitions of specific resistance,the formulae of leg and foot mech-anism with two different models were derived.By means of computer simulation,the curves of specific re-sistance under different parameters have been obtained.The final conclusions are the followings:(1)Forthe mechanism of RCS models,the carriage of mammals is superior to that of insects.(2)For the mecha-nism of BCS models,when the relative step distance ranges from 0.1 to 0.6,the carriage of insects isbetter;when the relative step distance ranges from 0.7 to 1.0,the carriage of mammals is better. |
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| Keywords: | walking vehicle leg and foot mechanism spscific resistance |
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