机器人连杆行走机构大盘点
切比雪夫连杆机构经常被用于模拟机器人的行走https://p3-sign.toutiaoimg.com/pgc-image/f1bc286115b64aab96a0f8ae706ee17b~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=msP%2BiC8uGTCEHpN0an3pjVQ1Cv0%3D
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这步态够优美吧，迈着小碎步就出来了。https://p3-sign.toutiaoimg.com/pgc-image/77fc969f3cbc493daa362326a4831cad~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=1Y5E0Vvd%2B6nJkzIlCiq7dTiooME%3D
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这个竟然也是切比雪夫连杆组成的，我怎么没看出来，什么，倒立着就出来了，倒立着好像也挺好看的啊。https://p3-sign.toutiaoimg.com/pgc-image/0cfd5a9916af4ed989a706526d32d55b~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=xbuBq%2B7%2BEANuJz1i9b4jKuLVpsk%3D
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3. 克兰连杆机构https://p3-sign.toutiaoimg.com/pgc-image/fae5b8d3196c4af8b0bc4bba11e9da7a~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=bR%2B73PCX66HdqI1YRmDZkgCIwiY%3D
单个克兰连杆是酱紫的。https://p3-sign.toutiaoimg.com/pgc-image/a3364839741540bf90ba865f09aaebaf~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=G2i6xkjxSFjQj%2BCIWydkvj4yfck%3D
你这步子迈得有点不美丽了啊，不过还是克兰连杆。https://p3-sign.toutiaoimg.com/pgc-image/64034ccc70eb463697beb908c603018c~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=FSyiXVG7mkF3xTjk31KokhcKTvc%3D
https://p3-sign.toutiaoimg.com/pgc-image/c5661364efe44623aa44f71f6e1e7061~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=lsMNxNIX8yvgI4XqfhlanNeipU0%3D
没看错吧，横着就出来了，我想静静！对还是切比雪夫好听好看！
4. Jansen 连杆机构
是由Jansen发明的，用于模拟平稳行走，Jansen利用这种连杆制造了著名的海滩巨兽，这种连杆兼具美学价值和技术优势，通过简单的旋转输入就可模仿生物行走运动，这种连杆已经用于行走机器人和步态分析。https://p3-sign.toutiaoimg.com/pgc-image/df82a4f124b7494abe16cebdc19e5e90~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=5pDgq2uKobR4Jwbqn3g2B5enwoM%3D
单个Jansen连杆机构是酱紫的https://p3-sign.toutiaoimg.com/pgc-image/82422e1dc9d8451780600af4b9f577ec~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=WutUhUq7TLx7AK2LgCLDSmydzN4%3D
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你那么厉害，我不信12只脚你还不晕！
5.波塞利连杆机构
波塞利连杆是第一个真正把旋转运动转化为绝对直线运动的平面连杆机构。https://p3-sign.toutiaoimg.com/pgc-image/aa28880337dd4eb1a70a335bdf888911~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=helbrIn1rr0xxQIHmwWHrLtAGgI%3D
6.瓦特连杆
瓦特连杆是由瓦特发明的，没错就是那个特别流弊改良了蒸汽机的瓦特。在瓦特连杆中，移动的中点自由度被限制，只得做近似直线运动。最早是用在瓦特蒸汽轮机上的，后来也用做汽车的悬架结构中了。https://p3-sign.toutiaoimg.com/pgc-image/d5f7a81d16494187ae272609c90b9ae2~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=42K616t3JUWvFx8QGXaf%2B2KKoDM%3D
7.其他模仿行走的机构https://p3-sign.toutiaoimg.com/pgc-image/a8173a19ff4c4fb3aa0d6441fe649062~noop.image?_iz=58558&from=article.pc_detail&x-expires=1669440982&x-signature=iCYt2UkdcWUQrkkUuMNbOhzRmCc%3D
这个有点复杂啊！
受教了 感谢分享 我对机械这么着迷就是因为看到连杆机构的博大精深 机械运动看着就是舒服
:victory: 厉害了
厉害了
:handshake 很好！直观！学习了。
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