基于张拉整体结构的可变形移动机器人的设计与实验研究

张淏,杨琪,连宾宾,孙涛

Design and experimental research of deformable mobile robot based on tensegrity structure

Hao ZHANG,Qi YANG,Binbin LIAN,Tao SUN

表2 攀爬时机器人不同步态所对应的参数

Table 2 Parameters corresponding to different gaits of robot during climbing

参数 步态a 步态d 步态f a1与b1的关系 a1>b1 a1<b1 a1<b1 m1 1 0 1 m2 0 1 1 n1 0 0 1 n2 0 1 1 θ5 π/4 π/8 π/4