基于多面体结构的空间滚动步行机构的研究

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Based on the study of rolling principle on planar four-bar mechanism, its application is expanded to the rolling of space polyhedron mechanism. And with space hexahedral rolling mechanism as an example, the theoretical analysis and calculation are carried out. Based on this, kinematics and dynamics simulation is done with the application of ADAMS software.在平面四杆机构滚动原理研究的基础上，将其应用拓展到了空间多面体机构的滚动应用上，并以空间六面体结构滚动为例，对其进行了理论分析及计算。在此基础上，应用ADAMS软件对其进行了运动学及动力学仿真。