六足步行机横爬步态和运动干涉问题的研究

STUDY ON LATERAL CREEPING GAITS AND PROBLEMS OF KINEMATIC INTERFERENCE OF SIX-LEGGED VEHICLE

  • 摘要: 本文对六足步行机的两种横向爬行步态作了讨论,决出了在某一给定的静态稳定条件下.机体有效长度和绝对步幅之间的关系曲线.从工程角度出发,分析了步行机设计中应注意的运动干涉问题,并提出了这类问胚的解决方法.

     

    Abstract: In this paper,we approach two lateral creeping gaits of six-lcgged vehicle and present curves showingthe relations between effective length of the body and absolute stroke,with a given static stabilitycondition.From the point of view of engineering design,we analyze the ploblcms of kinematie interferencethat must be considered in vchicle design,and provide solutions.

     

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