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12 不同机架水平倾角下仿生机械腿足端运动轨迹的变化情况

Fig.12 Changes of foot end motion trajectory of bionic mechanical leg under different horizontal inclination angles of frame