一种轮足复合式爬壁机器人机构建模与分析-中国科学院沈阳自动化.PDF

30 6 ROBOT Vol.30, No.6 2008 11 Nov., 2008 1002-0446(2008)-06-0486-05 1,2 1 1 1 1 110016 2 100049 TP24 B Modeling and Analysis of a Biped-Wheel Wall-climbing Robot Mechanism LIU Ai-hua 1,2WANG Hong-guang 1FANG Li-jin 1JIANG Yong 1 (1. State Key Laborator