【摘要】 对自行设计的一种自动爬台阶机器的运动过程进行了分析,建立了其正常运动状态和翻转状态的动力学模型,并以阻翻能量裕量作为定量衡量爬台阶机器稳定性的评价指标.在各部件不与台阶相干涉的条件下,绘出了质心的位移轨迹曲线.更多还原

【Abstract】 This article analyses the move procedure of stair-climbing machine and build up a dynamic model of its normal motion and rollover process. Based on energy consideration,the rollover prevention energy reserve of the stair-climbing machine is derived and used as an evaluation index of stair-climbing machine rollover stability for stability analysis. Under the non-interference condition between the parts and steps, the coordinate value of the position of the equipment nature centre is calculated and therefore its move curve is drawn out.更多还原