CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
凸轮连杆组合机构驱动的四足仿生马机器人运动学建模与分析
Authors
李立伟
杨许
+3 more
王团辉
王良文
王若澜
Publication date
1 January 2021
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
提出了一种仿生马构型的四足步行机器人,以用于马术辅助治疗。其单腿系统利用凸轮连杆组合机构驱动。在论述该仿生马机器人结构与工作原理的基础上,进行了机器人的运动学建模与分析。利用环路矢量法建立各机构运动学方程,利用牛顿迭代法对非线性位移方程进行了求解。采用Matlab开发了求解机器人行走腿位移、速度、加速度运动的统一程序。通过实例计算,对采用电机等速驱动机器人产生的行走腿端点位移、加速度特性进行了分析。为后续优化机器人性能奠定了基础
Similar works
Full text
Available Versions
Directory of Open Access Journals
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:doaj.org/article:e47e12c68...
Last time updated on 06/04/2023