一个八自由度步行车辆模型及腿机构的运动学分析

A MODEL OF SIX-LEGGED VEHICLE WITH EIGHT DEGREE OF FREEDOM AND KINEMATICS ANALYSIS OF LEG MECHANISM

  • 摘要: 在越野行驶时,步行车辆的性能明显优于轮式车辆.本文提出了一个八自由度六足步行车辆模型.它在越野行走时,可以完成象轮式车辆在平路行驶时的功能.在不平路面上,通过简单的控制装置,可以保持车体的水平,其结构较以往的步行车辆的结构大为简化.同时,提出一种适合于该车辆的腿机构,并对其进行了运动学分析.分析结果表明,该腿机构有良好的性能,完全满足步行车辆的要求.

     

    Abstract: On the off-road,legged-vehicle are obviously superior to wheeled or tracked vehicle.In this paper,a mod-el of six-legged vehicle with eight degrees of freedom is proposed,which can work on uneven ground as awheeled vehicle on even road.Its body can be keeped horizontally by a simple control device.And its struc-ture is much simpler than that developed in the past.Moreover,a leg mechanism which is suitable for the ve-hicle model is proposed and its kinematics is analyzed.The analytic results show that the leg mehanism has agood property and satisfies the requirement of the legged vehicle completely.

     

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