中国机械工程2025，Vol.36Issue(4)：811-820,10.DOI:10.3969/j.issn.1004-132X.2025.04.018
全向运动仿生腿运动学及动力学建模与实验
Kinematics and Dynamics Modeling and Experiments of OmnilLegs
摘要
Abstract
A 3-DOF serial-parallel leg mechanism was introduced and mathematically modelled.Based on the special configuration and motion form of the OmnilLeg,a multi-method combined kine-matics modeling method was proposed by applying the rotational and geometrical methods for individ-ual kinematics modeling according to the characteristics of different parts and then combining them with the influence coefficient method to obtain the kinematics model of the whole machine.The pro-posed method reduces the modeling difficulties.The dynamic models of the OmnilLeg were estab-lished by Lagrangian method.The correctness of the theoretical models of the OmnilLeg was verified by simulation and prototype experiments.关键词
全向运动仿生腿/串并混联腿/多方法联合建模方法/运动学模型/动力学模型Key words
bionic leg capable of omnidirectional legged locomotion(OmnilLeg)/serial-parallel leg mechanism/multi-method combined modeling method/kinematics model/dynamics model分类
信息技术与安全科学引用本文复制引用
徐毓泽,卢钟岳,朱一鸣,罗自荣..全向运动仿生腿运动学及动力学建模与实验[J].中国机械工程,2025,36(4):811-820,10.基金项目
国家自然科学基金(52175069) （52175069）
