| 圆柱式缩放步行机构分析及运动学仿真 |
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| 引用本文： | 高福华,甘建国,朱玮,干东英. 圆柱式缩放步行机构分析及运动学仿真[J]. 吉林大学学报(工学版), 1994, 0(2) |
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| 作者姓名： | 高福华 甘建国 朱玮 干东英 |
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| 作者单位： | 吉林工业大学，长春光机研究所 |
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| 摘 要： | 详细分析了用于全方位步行机构的圆柱式缩放步行机构的运动学问题，提出了步行机对其步行机构足端运动轨迹的要求，给出了该机构足端运动轨迹的规划方法，并在ＳＧＩ计算机工作站上进行了运动学仿真。
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| 关 键 词： | 缩放机构，步行机构，机构分析，运动学仿真 |
Analysis and Motion Simulation of A Cylindrical-Pantographic Walking Mechanisms |
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| Gao Fuhua, Gan Jianguo, Zhu Wei, Gan Dongying. Analysis and Motion Simulation of A Cylindrical-Pantographic Walking Mechanisms[J]. Journal of Jilin University:Eng and Technol Ed, 1994, 0(2) |
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| Authors: | Gao Fuhua Gan Jianguo Zhu Wei Gan Dongying |
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| Affiliation: | Gao Fuhua; Gan Jianguo; Zhu Wei; Gan Dongying |
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| Abstract: | This paper analyzes in detail the problems of a cylindrical-pantographic walking mechanisms used as omni-directional walking mechanisms, specifies the requirements of trajectory motion of the walking robot to the walking mechanisms,gives the planning methods of the trajectory motion of the walking mechanisms,and make the motion simulation in SGI computer station. |
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| Keywords: | pantographic mechanisms walking mechanisms mechanisms analysis motion simulation |
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