轮腿式移动机器人的运动学分析  

Kinematics analysis of wheel-legged robot

作　　者：王克武[1] 毛彬彬[2] 刘盾 

机构地区：[1]连云港职业技术学院,江苏连云港222006 [2]淮海工学院,江苏连云港222006 [3]南京汽轮机厂,江苏南京210037

出　　处：《机械研究与应用》2010年第4期12-15,共4页Mechanical Research & Application

摘　　要：针对轮腿式移动机器人在非平整地面上的姿态控制问题,提出了移动机器人在非平整地面上的位姿分析通用方法。根据移动机器人的结构特点和姿态调整原理,建立了移动机器人在非平整地面上转向行驶时的运动学模型,得出运动学方程。采用坐标变换法,推导出移动机器人在非平整地面上的位姿方程及其运动学正解和逆解,在此基础上推导出移动机器人的姿态与工作平台的姿态之间的运动学关系。This article concerned about the gesture controlling problems of the wheel-legged robot in none level up ground, the general analyses method about the gesture and location of the six-wheel-legged robot in un-level up ground is brought forward.According to the structural characters and gesture regulating principle,the kinematics model is established about the mobile robot steering in the none level up ground,then the kinematics equation is educed also adopting the coordinate switching method,the location and gesture equation and its kinematics positive uncoil and negative uncoil are educed.On the base of upper condition the mobile robot＇s kinematics relationship between its gesture regulating and working flat roof are deduced.

关 键 词：移动机器人 位姿分析 运动学模型 正解 逆解 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]