可重构模块化机器人正运动学建模  

Kinematic analysis of reconfigurable modular robots

作　　者：张艳丽[1] 李景奎[1] 李树军[2] 

机构地区：[1]沈阳航空工业学院机械与汽车学院,沈阳110136 [2]东北大学机械工程与自动化学院,沈阳110004

出　　处：《机械设计与制造》2008年第10期161-163,共3页Machinery Design & Manufacture

摘　　要：对可重构模块化机器人的正运动进行了研究,对每一个功能模块推导出了独立变换矩阵,将装配机器人各模块的矩阵加以连乘就可以得到正运动学公式。每一个功能模块的矩阵仅随模块的类型的改变而改变,不随模块的大小而改变。同时采用Matlab语言建立了正运动学的用户界面,进一步简化机器人正运动学的计算。To establish the kinematical model,the structure of modules of modular robots was studied. Unattached transformation matrix is deducted to every module. This method merely requires product of transformation matrix of every given module according to the order of the assembled modular robot. Then forward kinematics equation is get. Transformation matrix of every module is changed according to type of the given module,but it isn＇t changed on the basis of size of module. Matlab that is adopted in computer languages establishes User Interfaces of forward kinematics. The User Interfaaces more simplify calculation of forward kinematics of robots.

关 键 词：可重构 模块化机器人 变换矩阵 正运动学 

分 类 号：TH112[机械工程—机械设计及理论]