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9 曲柄与机架夹角不同时仿生机械腿足端的位置对比

Fig.9 Comparison of foot end position of bionic mechanical leg with different angle between crank and frame