First, build 3d solid assembly model of the inspection robot in UG and obtain the key parameters ofmass, inertia and CM (centerofmass).
首先,应用ug建立了巡线机器人的三维实体装配模型并获得各关键零部件的质量、惯量、质心点位置等参数。
2
With a stable and fixed parameterized gait, ZMP stability margin is analyzed while changing the robot links' mass, moment of inertia and CM (centerofmass) position.