!45" !8# ! " # $ % & & ' Vol.45 No.8
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2011$8%echanicalSystems)togetthemost
suitableclimbinggaitinvariousorientationsofthepylons.Therobotclimbsonthecrossbarin
turninggaitwiththelessenergyconsumption,whileclimbsonthemainsurfacewiththeequal
energyconsumption,anappropriategaitcanbechosenaccordingtotheobstacle.Thesimulation
issignificantforgaitplanningandcontrolstrategy,andtheprototypetestconfirmsthefeasibility
ofbothclimbinggaits.
犓犲狔狑狅狉犱狊:climbingrobot;kinematics;gaitanalysis;ADAMS
&'(#:2011?02?23. )*+,:-./(1987-),0,123;456(789),0,:;. <=>?:***@ABCDEFG
H>?(2008GZ0156).
IJKLMN:2011?07?18 IJKLOP:http://www.cnki.net/kcms/detail/61.1069.T.20110718.1730.008.html
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