| 空间多关节六足步行机超确定输入能量最优解析 |
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| 引用本文： | 黄真,赵永生. 空间多关节六足步行机超确定输入能量最优解析[J]. 机械工程学报, 1989, 25(4): 20-25 |
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| 作者姓名： | 黄真 赵永生 |
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| 作者单位： | 燕山大学 |
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| 摘 要： | 本文讨论了空间多关节六足步行机的能量合理分配问题，文中首先导出六足步行机的速度、加速度和惯性力的解析计算公式，在此基础上着重讨论步行机输入量多于自由度的超确定输入问题，导出了超确定输入的协调方程和最优能量分配方程。
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| 关 键 词： | 步行机 空间机构 能量 |
THE OPTIMUM ENERGY DISTRIBUTION OF OVER-DETERMINATE INPUTS OF THE SIX-LEGGED WALKING ROBOT |
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| Huang Zhen,Zhao Yongsheng. THE OPTIMUM ENERGY DISTRIBUTION OF OVER-DETERMINATE INPUTS OF THE SIX-LEGGED WALKING ROBOT[J]. Chinese Journal of Mechanical Engineering, 1989, 25(4): 20-25 |
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| Authors: | Huang Zhen Zhao Yongsheng |
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| Affiliation: | Yanshan University |
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| Abstract: | The reasonable energy distribution of the spatial multi-joint six-legged walking robot is presented in this paper. Firstly, the velocities, accelerations and inertia forces of the six-legged locomotion are derived. And then, the over-determinate input is discussed emphasisly, the harmonization equation of the over-determinate inputs and optimum energy distribution equation are derived. |
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