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 2
机器人关节角度限制
Tab.2
Joint angle limit of robot
编号
$\eta_1 $
$\eta_2 $
$\eta_3 $
一号腿
$[ - {60^ \circ },{60^ \circ }]$
$[ - {60^ \circ },{60^ \circ }]$
$[{30^ \circ },{150^ \circ }]$
二号腿
$[ - {60^ \circ },{60^ \circ }]$
$[{120^ \circ },{240^ \circ }]$
$[ - {150^ \circ }, - {30^ \circ }]$
三号腿
$[ - {60^ \circ },{60^ \circ }]$
$[ - {60^ \circ },{60^ \circ }]$
$[ - {150^ \circ }, - {30^ \circ }]$
四号腿
$[ - {60^ \circ },{60^ \circ }]$
$[{120^ \circ },{240^ \circ }]$
$[{30^ \circ },{150^ \circ }]$