机械与电子Issue(7)：57-61,5.
四足仿生机器人单腿机构工作空间的优化设计
Mechanical Optimization of Quadruped Bio-robot Leg Body Workspace
摘要
Abstract
The shape and size of quadruped bio - robot workspace is very important for its optimum design. Firstly,According to the hip joint and knee joint angle range of the simplified quadruped bio - robot leg body, Monte Carlo method is used to generate the shape of workspace on Matlab. Secondly , the numerical integration is used to calculate the area of workspace,and the geometrical error a nalysis was conducted. Finally, Aiming at largest size of the workspace, we make sure the detailed project of structure optimization and finish objective optimization.关键词
四足仿生机器人/工作空间求解/结构优化设计/MatlabKey words
calculation/ optimum design on structure/ Matlab分类
信息技术与安全科学引用本文复制引用
赵文涛,李军,刘志忠..四足仿生机器人单腿机构工作空间的优化设计[J].机械与电子,2011,(7):57-61,5.基金项目
陕西省自然科学基础研究计划项目(SJ08ZT13-10) （SJ08ZT13-10）
