Open Access
表1
机器人结构参数
| 名称 | 符号 | 数值 |
| 前摆臂履带质量/kg | m1 | 2.33 |
| 前摆臂履带质量/kg | m2 | 2.33 |
| 中间履带质量/kg | M | 14.1 |
| 前摆臂履带长度/mm | L1 | 248 |
| 前摆臂履带长度/mm | L2 | 248 |
| 中间履带长度/mm | L | 380 |
| 主体质心距o点距离/mm | l | 184 |
| 主体质心与x轴的夹角/(°) | α | 0 |
| 带轮半径/mm | R | 80 |
| 空间冲击力/N | F | 180 |
| 两侧履带宽度/mm | b | 430 |
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