投篮机器人行走机构的设计与研究

分析了行走机器人常见的行走机构，并针对机器人在行走过程中需要跨越障碍物的要求，提出了一种有特色的投篮机器人行走机构，介绍了该种行走机构的设计思想和运动原理，并从理论上探讨了该行走机器人的运动分析、运动规划及运动误差等问题，具有上述结构的行走机器人改进后有较好的应用前景。

Design and research of walking mechanism of basket-shooting robots

Several common walking mechanisms of walking robots are introduced and analyzed in the paper. A special characteristic walking mechanism of walking robots is introduced for the basket-shooting robots, which has the ability of passing over obstacles. Moreover, the design plan and movement principle of the walking mechanism are discussed and the motion analysis, movement programming and movement tolerance analysis of the walking mechanism are theoretically investigated. Walking robots with such kind of improved mechanisms can be widely used and have a bright future of application.