摘要
通过对四足哺乳类动物的结构简化,确立四足机器人结构框架,并建立该机器人的运动学模型。对四足机器人的关节运动进行轨迹设计,同时利用ADAMS软件建立四足机器人的虚拟样机,仿真结果验证了运动学数学建模的正确性及结构设计的合理性。
Configuration framework of quadruped robot is set up through simplifying the configuration of quadruped mammalian, and the kinematics model of this robot is established. The quadruped robot＇s joint trajectory was planned, and virtual prototypes was set up by ADAMS software for cerifing the kinematics madel and the structure design.
出处
《现代制造工程》
CSCD
北大核心
2009年第8期146-149,共4页
Modern Manufacturing Engineering
关键词
四足机器人
结构
运动学
仿真
quadruped robot
structure
kinematics
simulation
