摘要
Thispaperpresentsakinematicanalysisofthelocomotionofagecko,andexperimentalverificationofthekinematicmodel.Kinematicanalysisisimportantforparameterdesign,dynamicanalysis,andoptimizationinbiomimeticrobotresearch.Theproposedkinematicanalysiscansimulate,withoutiteration,thelocomotionofgeckosatisfyingtheconstraintconditionsthatmaintainthepositionofthecontactedfeetonthesurface.Sothemethodhasanadvantageforanalyzingtheclimbingmotionofthequadrupedmechanisminarealtimeapplication.Thekinematicmodelofageckoconsistsoffourlegsbasedon7-degreesoffreedomspherical-revolute-sphericaljointsandtworevolutejointsinthewaist.Themotionofthekinematicmodelissimulatedbasedonmeasurementdataofeachjoint.Themotionofthekinematicmodelsimulatestheinvestigatedrealgecko’smotionbyusingtheexperimentalresults.Theanalysissolvestheforwardkinematicsbyconsideringthemodelasacombinationofclosedandopenserialmechanismsundertheconditionthatmaintainsthecontactpositionsoftheattachedfeetontheground.Themotionsofeachjointarevalidatedbycomparingwiththeexperimentalresults.Inadditiontothemeasuredgait,threeothergaitsaresimulatedbasedonthekinematicmodel.Themaximumstridesofeachgaitarecalculatedbyworkspaceanalysis.Theresultcanbeusedinbiomimeticrobotdesignandmotionplanning.
出版日期
2009年03月13日（中国期刊网平台首次上网日期，不代表论文的发表时间）
