【摘要】 以一种新型的多自由度六足机器人机构为对象,研究其横向行走步态,规划一种横向行走的三角步态,并完成了足端轨迹规划和稳定性分析。最后采用Pro/E和ADAMS等软件相结合的方式对六足机器人的样机模型进行运动学仿真与分析,结果证实了该横向行走步态的可行性,为接下来的物理样机实验提供了依据。更多还原

【Abstract】 The laterally walking gait of hexapod walking robot has been researched based on a new type of multi-DOF hexapod robot mechanism.The planning of a laterally walking tripod gait and foot trajectory,the analysis of stability are all completed.The kinematical simulation and analysis of the hexapod robot model have been done by using Pro/E and ADAMS at the end.The laterally walking gait proved feasible by the simulation results.This can provide foundation for the experiment of physical prototype.更多还原