四足步行机结构参数P、Q的关系与稳定裕量S的分析

THE RELATION BETWEEN THE POSITION CONSTRUCTION PARAMETERS P AND Q OF A QUADRUPED WALKING ROBOT AND AN ANALYSIS OF THE STABILITY MARGINS

  • 摘要: 本文探讨了四足步行机的各腿在机体上安置参数的关系并给出各腿安置参数P和Q的差值△K的选取范围.当各足的运动范围长和宽不相等时,本文给出了△K的合理取值.另外,还研究了各腿重量和步行机的行走速度对稳定裕量S的影响.给出了相应的稳定裕量的增加量.

     

    Abstract: This paper investigates the relationship between the position parameters P and Q of the legs of a quad-ruped walking robot.The △K boundary equal to P minus Q has been given.When the length is not cqual tothe width of motion space of a leg,a reasonable dafa of △K has been given.The stability margin S under theinfluence of the weight of legs and the speed of robot has been rcsearched,and the increment of stabilitymargin has been introduced.

     

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