一种新型变形移动机器人腿部机构灵活性分析  

Flexibility Analysis of A New Type of Deformable Mobile Robot's Leg

作　　者：宋孟军[1] 张明路[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械设计与研究》2010年第6期37-40,共4页Machine Design And Research

摘　　要：机器人的灵活性是机器人运动学中比较重要的一个性能;本文利用几何构图法和数值分析方法对一种可变形多足移动机器人腿部机构的灵活性进行了分析研究;研究证明了可变形多足移动机器人腿部机构在平面内的灵活度;并通过计算空间自由度,对可变形移动机器人腿部机构在空间内的灵活性进行了初步研究;通过解算几何关系,给出仿真结果;最后依据灵活性分析结果对腿部机构的工作性能和逆解存在状况进行了分析研究。The flexibility of robots is an important part of the robot kinematics analysis.Based on both geometric composition and numerical analysis methods,this paper analyzes the flexibility of a deformable mobile robot＇s leg.And the method of geometrical composition is used to prove the flexibility of deformable mobile robot＇s leg in the plane.Through calculating the space freedom of the deformable mobile robot＇s leg,its flexibility in the space is studied primarily.Analyzing the geometrical relationships,the simulation result of the flexibility in the space is presented.According to the analysis of the flexibility.Finally the working performance and the existing of inverse solution situation for the deformable mobile robot＇s leg is disscussed.

关 键 词：移动机器人 空间自由度 灵活度 灵活工作空间 运动学 运动学逆解 

分 类 号：C302[社会学] TB114[理学—概率论与数理统计]