外文翻譯---一種簡(jiǎn)易足式移動(dòng)機(jī)器人-在線(xiàn)瀏覽
2025-03-04 02:25本頁(yè)面
【正文】 torso are partial and six feet, the tension bar and the direct current electric motor positions. If the race 1 and 3 connects by tension bar a。 The foot 2 and the foot 5 also by the tension bar connection, may circle on the torso the axle center to swing the certain angle in the vertical plane. Thus, the foot 1 and the foot 3as well as tension bar a and the body form a plane parallel four link motion gear。 The tendency walks the way is refers to except for this other to walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in the process, its center of gravity always is in the stable strut plane. The strut plane is refers supports the polygon which between the foot poses. In order to obtain a better stability, this article designs divides into six feet two groups, after a bodily side front foot, the foot and another side center fully took a group, forms as table triangle strut. Two groups of fully in turn swinging with strut, realization organization migration.Theoretically says, six full organizations may supply the choice the gait to be more, but also should follow the general criterion: (1)chooses the gait to be supposed to conform to the animal to walk the custom. The experience and the theoretical analysis indicated that, the animal walks the way is in the nature most reasonable, these walk the way not only to be able to cause the walk organization to be balanced, moreover can cause the energy decrement which consumes to the lowest degree. (2) chooses the gait to be supposed to cause the control as far as possible simplicity, walks differently with the animal, the walk organization walks must join by the artificial control, if chooses in the gait existence control the difficulty even with difficulty to realize, the obvious significance is not big. The synthesis considered these two criteria as well as the organization whole constitution, walks the gait to the organization to make the following plan. advances walks the gaitTime six full organizations advances walks the gait like chart11 to show. After six full organizations start the movement, the first step, the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, thefoot 2, the foot 4 and foot 6, and form a triangle to support the region. If walks in the process, this organization center of gravity throughout is located in this triangle, then six full organizations are at the steady state, as for does not throw down. The second step ,wears the place the foot 4 and the foot 6 relative bodies swings the certain angle to after, realizes the body relative ground to the front first step of migration. The third step, the hanging foot 1 and the foot 3 swings an angle to front. The fourth step, the foot 2 and the foot 5 reversed directions swing an angle, causes right flank the body to lift, the foot 2, the foot 4 and the foot 6 is hanging, foot 1, foot 3 and foot 5. The fifth step, wears the place the foot 1 and the foot 3 relative bodies swings an angle to after, realizes the body relative ground to the front second step of migration. The sixth step, the hanging foot 4 and the foot 6 relative bodies swing an angle to front. So (a) (b) (c) (d) (e) (f) (a) moves back and forth the circulation. Time the backlash gait analogizes in turn.Chart11 six full organizations advances walk the gait like chartThe chart has simulated this six full organizations advance continual motion gait from the position. May see, this organization walks the direction certainly is not a straight line, if first steps the right leg then organization finally to left displacement. Moreover, afte rthe organization steps out first step, the entire torso and the original position can form an included angle psi, the organization forward travel distance is m. After steps out second step, the organization posture returns to the home position, the forward travel distance is n, to the left displacement distance is s. curves walks the gaitThe chart is six full organizations counterclockwise time walks the gait like chart12 to show. After six full organizations start the movement, the first step ,the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, the foot 2, the foot 4 and foot 6, and form a triangle to support the region. The second step, wears the place the foot 4 and the foot 6relative bodies swings the certain angle to after, realizes the body relative ground to the front first step of rotation. Like the chart shows, this time on a body position posture relative posture has rotated an angle alpha. The third step, the hanging foot 1 and the foot 3 relative bodies swing the certain angle to after. The fourth step, the foot 2 and the foot 5 reversed
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