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       
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       
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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