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4 固定坐标系中Ⅱ级杆组AB-BO2C的位置示意

Fig.4 Position diagram of class-II rod group AB-BO2C in fixed coordinate system