| 六足步行机节能最佳腿行程的研究 |
| |
| 引用本文： | 王斌 干东英. 六足步行机节能最佳腿行程的研究[J]. 机器人, 1991, 13(2): 39-44 |
| |
| 作者姓名： | 王斌 干东英 |
| |
| 作者单位： | 吉林省电力试验研究所(王斌)，中国科学院长春光机所(干东英) |
| |
| 摘 要： | 本文研究了步行机腿行程对其能耗的影响,分析了步行机低速和高速行走的最佳腿行程,就具体结构形式的腿得到了其耗能和耗能率计算公式.具体计算了缩放式腿的最佳腿行程,为步行机总体结构设计和行走时的控制提供了理论依据.
|
| 关 键 词： | 步行机 节能 腿行程 机器人 |
OPTIMAL STROKE OF LESS ENERGY CONSUMPTION RESEARCH IN HEXAPOD ROBOT |
| |
| WANG Bin,GAN Donying Changchun Inst. of Optics , Fine Mech,Academia Sinica. OPTIMAL STROKE OF LESS ENERGY CONSUMPTION RESEARCH IN HEXAPOD ROBOT[J]. Robot, 1991, 13(2): 39-44 |
| |
| Authors: | WANG Bin GAN Donying Changchun Inst. of Optics & Fine Mech Academia Sinica |
| |
| Abstract: | After discovering that the stroke of walking robot has an effect upon it's power consumption, we ana-lysed the optimal stroke of walking machine at low speed and high speed respectively, then obtained theformulae for calculating it's energy consumption and energy consumption rate. This paper calculated andderived the optimal stroke of pantograph leg. At last we gave a theoritical basis for the design of walkingrobot's structure and control of walking machine's walking. |
| |
| Keywords: | hexapod robot stroke power consumption rate tripod gait |
| 本文献已被 CNKI 维普 等数据库收录！ |
