The optimum distribution of driving forces and momenta of walking apparatus with three-part limbs
Keywords:
walking apparatus, dynamics equation, the first task of dynamics, dynamic reactions, driving forces and force moments, optimizationAbstract
General dynamics equations (DE) of walking apparatus (WA) with three-part limbs (TPL) have been suggested. Formulas for calculating dynamic reactions in fulcrums devices have been derived. For (WA) in three-fulcrum condition six generalized driving forces (GDF) of the parts of fulcrum TPL (FTPL) three-part limbs have been expressed through the remaining three GDF generalized driving forces of these fulcrum three-part (FTP) limbs. Formulas for calculating GDF the generalized drivingforces of the parts of fulcrum three-part limbs FTP minimizing the quadratic (the rest of GDF) quality criterion have been obtained. An example has been given.
References
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Telegin A.I., Abrosov A.V. Algorithms for solving the first problem of the dynamics of arbitrary systems of bodies. Bulletin of the South Ural State University. Ser. Mechanical Engineering Industry, 2001, iss. 1, no. 6 (06), pp. 3–9. (in Russ.)
