A dynamics model of the robot is used to analyse the driving torque of each joint, and the driving power of motors are decided based on the analysis results.

利用两足步行椅机器人动力学模型，分析了各关节的驱动力矩，以此确定了驱动电机的功率。

youdao

Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism.

然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。

youdao

Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism.

然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。

youdao