| 基于蠕动原理拱泥仿生机器人运动轨迹仿真研究 |
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| 引用本文： | 郭士清,张岚,周俊,任福君.基于蠕动原理拱泥仿生机器人运动轨迹仿真研究[J].林业机械与木工设备,2008,36(4):16-18. |
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| 作者姓名： | 郭士清 张岚 周俊 任福君 |
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| 作者单位： | 1. 佳木斯大学机械工程学院,黑龙江,佳木斯,154007
2. 中国科普研究所,北京,100081 |
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| 基金项目： | 佳木斯大学校科研和教改项目 |
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| 摘 要： | 介绍了拱泥仿生机器人的基本组成和工作原理,并根据其运动特点建立了拱泥仿生机器人的运动轨迹数学模型,利用 MATLAB进行其沿预定轨迹运动的轨迹仿真,通过轨迹仿真,可以直观显示拱泥仿生机器人运动时的位姿变化情况,为拱泥仿生机器人虚拟样机研究工作和工程样机的路径规划奠定了理论基础.
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| 关 键 词： | 拱泥仿生机器人 轨迹仿真:蠕动原理 |
| 文章编号： | 1001-4462(2008)04-0016-03 |
| 修稿时间： | 2007年11月12 |
Simulation Study on Motion Trace of Move-in-mud Bionic Robots Based on Creeping Principle |
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| GUO Shi-qing,ZHANG Lan,ZHOU Jun,REN Fu-jun.Simulation Study on Motion Trace of Move-in-mud Bionic Robots Based on Creeping Principle[J].Forestry Machinery & Woodworking Equipment,2008,36(4):16-18. |
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| Authors: | GUO Shi-qing ZHANG Lan ZHOU Jun REN Fu-jun |
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| Abstract: | The basic components and operating principle of move-in-mud bionic robots are introduced.A mathematics model of motion trace of a move-in-mud bionic robot is established according to its motion characteristics,and the trace simulation is carried out using Matlab when it moves along the given trace.The motion trace can visually display pose change of the robot,which can provide important theoretical principle for the research on the simulation prototype of move-in-mud bionic robots and motion trace design of the engineering prototype. |
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| Keywords: | move-in-mud bionic robot motion trace simulation creeping principle |
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