转盘式多足仿生机器人的运动学分析及优化

张春燕,丁兵,何志强,杨杰

Kinematics analysis and optimization of rotary multi-legged bionic robot

Chun-yan ZHANG,Bing DING,Zhi-qiang HE,Jie YANG

图2 仿生机械腿机构各关节的运动螺旋示意

Fig.2 Motion screw diagram of each joint of bionic mechanical leg mechanism