Tham khảo tài liệu 'intech-climbing and walking robots towards new applications part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 60 Climbing Walking Robots Towards New Applications 1 i x0p i y0P i z0p . . . . d . . d I AiQ A AiAi AiA Q AiAi 2 -iA-0QU2 12A-22A-3 J 2A- 02 1QU 2 3 J V dt dt . . . d 0 A AQ-A U dt 1 X4P i y4P Z4P i 1 2 1 x _ x0p i y0P z z0p AQA AAAaA 17 AAQAAA1AA-dt dt AAAqAA AA AAẠAqá AA-dt dt AAA AÁQAịÁ A0A7 a8A a AQA k dt 7 1 i X4P i y4P Z4P i 3 4 1 xL x0P i y0p i Z0P d 910 d 911 I Ai Ai Ai -1 Ai A10Q A11A12 Ai Ai Ai -2 I A0Q A1 A2 A3 A1A2A3 A0A1 QeA2 A3 A1A2 a3 I dt dt dớ12 . ớ1 i 10 11 12 i i i 3 i 10 11 12 i i i 1 A A A Q A A A A A A A A Q A A A 0 1 2 3123 1 0123 -U 12 3-1 dt dt 1 X4P y4p Z4P J A Aff Ai A10A11A12Ai QAL Ai -2- Ai A Ai QAi 3 A0 A1 a2 A3 A1Q A2A3 A0A1 A2 A3 a1a2Q A3 . dt dt i 5 6 Modular Walking Robots 61 4. Force Distribution in Displacement Systems of Walking Robots The system builds by the terrain on which the displacement is done and the walking robot which has three legs in the support phase is statically determinate. When it leans upon four or more feet it turns in a statically indeterminate system. The problem of determination of reaction force components is made in simplifying assumption namely the stiffness of the walking robot mechanical structure and terrain. For establishing the stable positions of a walking robot it is necessary to determine the forces distribution in the shifting mechanisms. In the case of a uniform and rectilinear movement of the walking robot on a plane and horizontal surface the reaction forces do not have the tangential components because the applied forces are the gravitational forces only. Determination of the real forces distribution in the shifting mechanisms of a walking locomotion system which moves in rugged land at low speed is necessary for the analysis of stability. The position of a walking system depends on the following factors the configuration of walking mechanisms the masses of component elements and their positions of gravity centers the values of friction coefficients between terrain
