| 多足仿生移动机器人并联机构运动学研究 |
| |
| 引用本文： | 宋孟军,张明路.多足仿生移动机器人并联机构运动学研究[J].农业机械学报,2012,43(3):200-206. |
| |
| 作者姓名： | 宋孟军 张明路 |
| |
| 作者单位： | 河北工业大学机械工程学院,天津,300130 |
| |
| 基金项目： | 国家自然科学基金资助项目（61075097） |
| |
| 摘 要： | 以一种具有变形关节的多运动模式仿生移动机器人为研究对象,利用坐标变换法构建了并联机构的运动学模型;利用各分支末端之间的几何关系,求解了并联机构的运动学正解,并进行了仿真验证,仿真结果表明该机器人运动学模型构建正确、运动学正解求解正确;利用几何建模和数值求解方法对并联机构的运动学逆解存在性进行了求解验证与分析证明。
|
| 关 键 词： | 仿生机器人 移动机器人 并联机构 运动学 |
Kinematic Analysis for Parallel Mechanism of Bionic-mobile Robot |
| |
| Song Mengjun and Zhang Minglu.Kinematic Analysis for Parallel Mechanism of Bionic-mobile Robot[J].Transactions of the Chinese Society of Agricultural Machinery,2012,43(3):200-206. |
| |
| Authors: | Song Mengjun and Zhang Minglu |
| |
| Institution: | Hebei University of Technology;Hebei University of Technology |
| |
| Abstract: | Kinematics based on parallel mechanism of a new bionic-mobile robot with six legs were studied, and the method of coordinate transformation was used to construct kinematic model for parallel mechanism of the bionic-mobile robot; the geometrical relationship among the ends of different branches was applied to solve forward kinematics for the parallel mechanism, and the results of simulation indicate that construction of the kinematic model is right, solution of the forward kinematics is right; geometric modeling and numerical solution can be used to solve the inverse kinematics for parallel mechanism of the bionic-mobile robot and the existences of inverse kinematics for the parallel mechanism was testified. |
| |
| Keywords: | Bionic robot Mobile robot Parallel mechanism Kinematics |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《农业机械学报》浏览原始摘要信息 |
| 点击此处可从《农业机械学报》下载免费的PDF全文 |
|
