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轮腿式步行机构设计及其运动仿真
Alternative TitleDesign and motion simulation of wheel-legged walking mechanism
汪永明; 余晓流; 汪丽芳; 汤文成
Department机器人学研究室
Source Publication现代制造工程
ISSN1671-3133
2010
Issue2Pages:138-141
Indexed ByCSCD
CSCD IDCSCD:3858242
Contribution Rank2
Funding Organization教育部高校科技创新工程重大项目培育资金项目(708054); 机器人学国家重点实验室开放课题项目(RLO200816); 安徽省高校自然科学基金重点资助课题项目(KJ2009A015Z); 江苏省科技攻关项目(BE2007012)
Keyword轮腿式步行机构 干涉分析 运动仿真 起伏度
Abstract基于二级半转机构原理,提出一种新型的轮腿式步行机构,它由一级转臂、二级转臂和跨步杆组成。分析机构中各转动关节的运动耦合关系,并给出机构不发生干涉的条件,在此基础上,利用二级行星轮系实现了该轮腿式步行机构。在CosmosMotion仿真环境下,对该轮腿式步行机构进行了运动仿真,给出机构各关节的运动轨迹曲线,并分析该轮腿式步行机构的车身起伏度。仿真结果表明,基于二级半转机构的轮腿式步行机构的车身垂直起伏度,比一级半转步行机构车身的垂直起伏度小。
Other AbstractBased on the principle of double-half-revolution mechanism,proposed a new-style wheel-legged walking mechanism,which is composed of a first swiveling arm,a second swiveling arm and two striding rods,etc.On the basis of analysis of the motion coupling relationship and non-interference condition of the double- half-revolution mechanism,the wheel-legged walking mechanism was designed by using two tandem planetary gear trains.Based on motion simulation in CosmosMotion software,obtained the motion trail curves o...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7230
Collection机器人学研究室
Corresponding Author汪永明
Affiliation1.东南大学机械工程学院
2.安徽工业大学机械工程学院
3.机器人学国家重点实验室
Recommended Citation
GB/T 7714
汪永明,余晓流,汪丽芳,等. 轮腿式步行机构设计及其运动仿真[J]. 现代制造工程,2010(2):138-141.
APA 汪永明,余晓流,汪丽芳,&汤文成.(2010).轮腿式步行机构设计及其运动仿真.现代制造工程(2),138-141.
MLA 汪永明,et al."轮腿式步行机构设计及其运动仿真".现代制造工程 .2(2010):138-141.
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