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14 不同对足组合时转盘的传动轴分布示意

Fig.14 Schematic diagram of transmission shaft distribution of rotary disc with different pairs of feet combined