六足步行机器人的设计研究.pdf 2页

# 102# 20051No16 六足步行机器人的设计研究 曾桂英, 刘少军 (中南大学机电工程学院, 长沙 410083) : , , PLC : ; ; PLC : TP242 : A : 1001- 3881 ( 2005) 6- 102- 2 The D esign of S ix- legged W alk ing M a ch ine ZENG Gui-ying, LIU S ao-jun ( Sc ool ofM ec an ical Engineering, Sout CentreUn iversity, C angs a 410083, C ina) A bstrac t: T e project of t e leg structure of six- legged walk ing m ac ine was broug t forw ard1And t e design of ydrau lic sys- tem and t e PLC control system w as accom plis ed1 K eyw ord s: S ix- legged walk ingm ac ine; Legm ec an ism; PLC control system design 2 , , , , ; , , , , , ; , , : ( 1) ; ( 2) , , , , PLC 1 2 2 3 1 , , 1 AC/ /ED, EB //CF, E, A 3 K 1 = FD /D C F; A 1 , 135, , EK = 246, 2 K + 1 FA E 1