管道内壁四足爬壁机器人的运动学与步态规划

李琳,薛泽浩,蔡蒂,张铁

Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall

Lin LI,Ze-hao XUE,Di CAI,Tie ZHANG

表 1 机器人串联腿部结构的D-H参数

Tab.1 D-H parameters of robot series leg structure

$i$ ${a_{i - 1}}$ ${\alpha _{i - 1}}$ ${d_i}$ ${\theta _i}$ 1 0 0 0 ${\theta _1}$ 2 0 90° 0 ${\theta _{\text{2}}}$ 3 ${L_1}$ 0 0 ${\theta _{\text{3}}}$ 4（末端） ${L_2}$ 0 $ - d$ 0