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四足机器人腿部结构运动学分析与仿真

Shuancheng Li,Ruixiang Kong,Mingxi Li,Wanjun Qin

Journal of Academy of Military Transportation（2014）

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Abstract
结合军用四足机器人性能要求,确定四足机器人三自由度的腿部结构.通过对腿部结构的运动分析,建立四足机器人足端运动范围和大腿液压缸位移之间的运动关系.使用仿真软件对腿部结构进行运动学仿真,并对仿真结果进行分析,验证三自由度机器人腿部联动机构的合理性及有效性.
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