Open Access
表1
机器人机构质量属性表
部位 | 坐标系 | αi-1/rad | ai-1/mm | di/mm | θi/rad | 质心在相应连杆处的位置(x, y, z)/mm | 质量/kg |
右 腿 |
0(末端) | 0 | 0 | 0 | 0 | (-58.421, 0, 78.212)(脚) | 0.972 |
1(踝关节) | 0 | 80 | 0 | q1 | |||
2(踝关节) | π/2 | 0 | 0 | q2 | (259.056, 27.210, 0)(小腿) | 3.941 | |
3(膝关节) | π | 430.6 | 0 | q3 | (224.999, 12.271, 0)(大腿) | 4.47 | |
4(髋关节) | 0 | 440 | 0 | q4 | |||
5(髋关节) | π/2 | 0 | 0 | q5 | |||
6(髋关节) | 90 | 0 | 124.9 | q6 | (150.135, 0, 0)(身板) | 7.757 | |
左 腿 |
7(髋关节) | 0 | 300 | -124.9 | q7 | ||
8(髋关节) | π/2 | 0 | 0 | q8 | |||
9(髋关节) | π/2 | 0 | 0 | q9 | (150.135, 0, 0)(大腿) | 4.47 | |
10(膝关节) | π | 440 | 0 | q10 | (150.135, 0, 0)(小腿) | 3.941 | |
11(踝关节) | π | 430.6 | 0 | q11 | |||
12(踝关节) | -π/2 | 0 | 0 | q12 | |||
13(末端) | 0 | 80 | 0 | 0 | (150.135, 0, 0)(脚) | 0.972 |
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