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
DYNAMIC ANALYSIS OF THE WALKING SUPPORTED BY THREE FEET OF A QUADRUPED WALKING MACHINE WITH PANTOGRAPH LEGS
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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。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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