腿轮混合机器人设计及其直线运动规划  

Design of a Leg Wheel Hybrid Robot and It's Straight-line Motion Planning

作　　者：张文志[1] 刘永生[1] 李凌志[1] 

机构地区：[1]内蒙古工业大学机械学院,内蒙古呼和浩特010051

出　　处：《机床与液压》2011年第9期50-53,共4页Machine Tool & Hydraulics

基　　金：内蒙古自然科学基金重点资助项目(200607010703)

摘　　要：设计一种从动轮式腿轮混合机器人,利用特定空间收放,实现步行和轮滑的自动切换,具有无切换电机、质量轻和大、小腿运动解耦的优点。基于非完整约束条件,规划了高效直线轮滑时各关节的运动函数,建立了滑行速度与关节运动参数的定量关系,给出了运动参数选取的一般原则。仿真和实验结果证明了规划结果的正确性。A leg-wheel hybrid robot with passive wheel was designed.By retracting at special workspace,walking and skating could be switched automatically.It has characteristics of no additional switch motor,lightweight and thigh shank motion decouping.Based on nonholomic constrain condition,motion function of each joint for translational skating was planed.The quantitative relationship of skating speed and mtion parameters was deduced and the general principle to select parameters was proposed.The feasibility of the plan result is validate through simulation and experiment.

关 键 词：腿轮混合机器人 运动规划 非完整约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]