【摘要】 以机械腿达到直立行走为分析对象,描绘了整个腿部的协调运动。即大腿、小腿和脚部的运动以及膝关节和踝关节的屈伸运动。建立机械腿的动力学数学模型。为设计机器人行走系统提供了方便。更多还原

【Abstract】 Taking erect stepped mechanical legs for analytic target, describe the whole coordination about the sport position of shank when walking with mechanical leg. Namely the sports of the thigh, shank,foot and the crooking stretching sports of knee and ankle joint. To achieve it mechanical dynamics mathematics model of leg has been set up,which has been demenstrated very useful for designing robot.更多还原