双足滚轮式溜冰机器人及其运动学建模  

Biped roller-skating robot and its dynamics modelling

作　　者：李金良[1] 孙友霞[1] 于岩[1] 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266510

出　　处：《机械设计》2009年第7期22-24,共3页Journal of Machine Design

摘　　要：首先根据溜冰运动的特点来配置两足溜冰机器人的运动自由度,设计了两足溜冰机器人样机。在此基础上进行了溜冰机器人的运动学及逆运动学分析。采用Denavit-Hartenberg规则建立了溜冰机器人的运动学模型,并求得了运动学逆问题的显式解。Firstly on the basis of the characteristics of skating sport this paper configured the movements DOF of the biped roller- skating robot and designed the prototype of biped roller-skating robot. Taking this as a base, the kinematics and inverse kinematics analyses of roller-skating robot were carried out. The kinematics model of skating robot was established by adopting the Denavit- Hartanberg rule, and the explicit solution of kinematics problems was found out.

关 键 词：两足溜冰机器人 运动学 逆运动学 

分 类 号：TP242.1[自动化与计算机技术—检测技术与自动化装置]