基于手脚融合功能的多足步行机器人正运动学分析  

Forward kinematics analysis of multi-legged walking robots based on hand-foot-integrated mechanism

作　　者：王良文[1,2] 潘春梅[1] 王新杰[1] 唐维纲[1] 张小辉[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002 [2]华中科技大学数字化制造装备与技术国家重点实验室,湖北武汉430074

出　　处：《机械设计》2010年第11期38-42,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875246)

摘　　要：简单介绍了一种新型机器人——基于手脚融合功能的多足步行机器人的结构,并对该类机器人的正运动学问题进行了详细研究。对该类机器人的两种典型运动状态——行走和抓取状态的运动学关系进行了阐述。文中首先根据机器人结构的约束关系导出了机器人机体轨迹(质心)的表达式,再对具有抓取功能的串联机械手的正运动学关系进行研究后,获得了机器人在抓取物体时的运动学关系。文中对相关公式进行了推导,给出了表达式,最后以相关算例进行了说明。该研究结果对于加快该类机器人的实用进程有显著意义。Development of integrated hand-foot function is an inevitable choice for speeding up the practical application of multilegged robots.This paper briefly introduces a new type of robot which is the structure of multi-legged walking robot based on handfoot-integration function,and the forward kinematics problem of such robot is analyzed in details.The kinematics relationship between two typical movement states-walking and grasping-are described.Firstly,the expression of the track（centre-of-mass） of robot body was derived based on the constraint relationships of the robot structure.After studying the forward kinematics relation of serial manipulator with grasping function,the kinematics relation when the robot is picking up an object was obtained.The relevant formula is deduced in this paper,and the formula expression is given.The analysis process is last verified through a numerical example.The study conclusion is of great significance to the acceleration of practical application for this kind of robot.

关 键 词：多足步行机器人 手脚融合 正运动学 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]