| 六足步行机缩放式腿机构的计算机辅助设计 |
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| 引用本文： | 甘建国,干东英,王悦凤. 六足步行机缩放式腿机构的计算机辅助设计[J]. 机械工程学报, 1991, 27(2): 21-25 |
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| 作者姓名： | 甘建国 干东英 王悦凤 |
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| 作者单位： | 中国科学院长春光机所 |
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| 摘 要： | 本文分析了六足步行机圆柱型缩放式腿机构的运动规律及其受力状况，并结合机构的运动空间、六足步行机的最佳机体高度及结构约束等条件，给出了一种合理选择这种机构各设计参数的优化设计方法及计算实例。
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| 关 键 词： | 步行机器人 计算机辅助设计 分支运动 广义解耦 输出参数 型综合 转动单元 |
A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT |
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| Gan Jianguo,Gan Dongying,Wang Yuefong. A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT[J]. Chinese Journal of Mechanical Engineering, 1991, 27(2): 21-25 |
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| Authors: | Gan Jianguo Gan Dongying Wang Yuefong |
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| Affiliation: | Changchun Institute of Optics and Fine Mechanics, the Academy of Sciences of China |
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| Abstract: | In this paper we analyse the motion law and force situation of a cylindrical pantograph legged mechanism. By considering the factor: the restraint of the optimal height of the walking robot and the structure, and the motion space of the mechanism, we give a CAD method to select the geometric parameters of a pantograph mechanism of a six-legged walking robot .A calculating example is also given. |
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