| 单自由度腿部机构的四足机器人稳定性研究 |
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| 引用本文： | 陈耀,周建军,胡涛.单自由度腿部机构的四足机器人稳定性研究[J].机械与电子,2015,0(2):65-69. |
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| 作者姓名： | 陈耀 周建军 胡涛 |
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| 作者单位： | (杭州电子科技大学机械电子工程研究所,浙江 杭州 310018) |
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| 摘 要： | 以基于切比雪夫连杆腿部机构的四足机器人为原型,建立了其足端的运动轨迹方程,并推导出速度方程; 分别从静态及动态两种步态对单自由度四足机器人的稳定性进行研究,给出了各种步态下保持平衡行进的稳定判据; 并通过Adams仿真进行了验证。
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| 关 键 词： | 切比雪夫连杆机构 单自由度 四足机器人 稳定判据 |
Stability Analysis of a 1-DOF Leg for Quadruped Robot |
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| CHEN Yao,ZHOU Jianjun,HU Tao.Stability Analysis of a 1-DOF Leg for Quadruped Robot[J].Machinery & Electronics,2015,0(2):65-69. |
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| Authors: | CHEN Yao ZHOU Jianjun HU Tao |
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| Affiliation: | (Institute of Mechatronic Engineering,Hangzhou Dianzi University,Hangzhou 310018,China) |
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| Abstract: | Inspired by the Chebyshev's linkage,this paper constructs a quadruped robot consists of four 1-Degree-of-Freedom(1-DOF)legs.A Kinematic analysis has been carried out in order to evaluate the position and velocity of each foot,then analyze both static stable walking gait and dynamic gait,and discuss the impacts of different gait on stability margin.A stability criterion equation has given for each gait,and a simulation of Adams illustrated the proposed result. |
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| Keywords: | Chebyshev's linkage 1-DOF quadruped robot stability criterion |
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