A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT

›› 1991, Vol. 27 ›› Issue (2): 21-25.

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A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT

Gan Jianguo;Gan Dongying;Wang Yuefong

Changchun Institute of Optics and Fine Mechanics, the Academy of Sciences of China

Published:1991-03-01

Abstract

Abstract: In this paper we analyse the motion law and force situation of a cylindrical pantograph legged mechanism. By considering the factor: the restraint of the optimal height of the walking robot and the structure, and the motion space of the mechanism, we give a CAD method to select the geometric parameters of a pantograph mechanism of a six-legged walking robot .A calculating example is also given.

Key words: 步行机器人, 计算机辅助设计, generalized decoupling, movement of branch, output parameter, rotation unit , type synthesis

Gan Jianguo;Gan Dongying;Wang Yuefong. A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT[J]. , 1991, 27(2): 21-25.

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A CAD METHOD FOR A PANTOGRAPH LEGGED MECHANISM OF A SIX-LEGGED WALKING ROBOT

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