Dynamic Analysis of Multi-legged Walking Robot's Swing Leg with Hand-foot-integration Function

被引：0
|
作者：
Wang, Xinjie [1 ]
Zhang, Xiaohui [1 ]
Wang, Liangwen [1 ]
Zhang, Duanqin [1 ]
Wei, Bo [2 ]
机构：
[1] Zhengzhou Univ Light Ind, Dept Electromech Sci & Engn, Zhengzhou 450002, Henan, Peoples R China
[2] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Hubei, Peoples R China
来源：
EQUIPMENT MANUFACTURING TECHNOLOGY AND AUTOMATION, PTS 1-3 | 2011年 / 317-319卷
关键词：
multi-legged walking robot; hand-foot-integration; dynamics;
D O I：
10.4028/www.scientific.net/AMR.317-319.811
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the structure and the motion state of a new type multi-legged walking robot with hand-foot-integration function is introduced, and its swing leg which has hand-foot-integration function is analyzed in detail. Firstly, the kinematics relation of the swing leg is researched, then the velocity and accelerated velocity expression of the swing leg is derived. And then, the dynamics of the swing leg in the state of grasping objects with considering the gravity effect is researched by using Newton-Euler method. The relevant formula is deduced in this paper. Finally, the analysis process is verified through a numerical example.
引用
收藏
页码：811 / +
页数：2
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