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

  • 上海交通大学

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  • 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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