多运动模式移动机器人的可变形轮腿运动学分析  

Kinematics analysis of deformable wheel-leg of multi-sports mode mobile robot

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》2011年第5期46-50,共5页Journal of Machine Design

摘　　要：提出了运用变形关节将腿式与轮式两种运动方式相结合的一种多运动模式新机构,构建了多运动模式移动机器人的可变形轮腿坐标体系,分析了可变形轮腿的运动学特性,建立了其运动学模型,并进行了求解,应用计算机仿真技术对运动学进行了仿真验证,表明该机构不仅可以平稳移动,提高了移动速度,而且大大增加了多运动模式移动机器人对复杂地面的适应能力。A new multi-movement mode mechanism was proposed by combining legged movement with the wheeled movement by applying deformed joints.The deformable wheel-leg coordinate system of the multi-sports mode mobile robot was built,the kinematics characteristics of the deformable wheel leg was analyzed,setting up and solving its kinematics model.The simulation and verification of the kinematics was carried out by applying the computer simulation technology,and the results show that the mechanism can not only move smoothly and increase movement speed,but also greatly enhance the adaptability of multi-sports mode mobile robot to complex grounds.

关 键 词：移动机器人 多运动模式 可变形轮腿 运动学 运动学正解 运动学逆解 雅克比矩阵 

分 类 号：C302[社会学] TB114[理学—概率论与数理统计]