变形移动机器人腿部运动学正逆解求解及仿真  

Solution and Simulation of Forward and Inverse Kinematics of a Deformable Mobile Robot′s Single 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：《机械科学与技术》2011年第12期2152-2156,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(61075097)资助

摘　　要：对一种新型可变形多足移动机器人的单腿串联机构进行了运动学分析,构建了可变形移动机器人腿部的运动学模型,利用DH法则构建了可变形移动机器人腿部的运动学方程,并对运动学方程正解和逆解进行了求解和仿真验证。结果表明了所应用方法的正确性。In this paper, firstly single leg kinematics of a new type deformable mobile robot was analyzed and the kinematics of the robot＇s single leg was construeteed, and the kinematics equations of this model was built based on DH rule. Then the forward kinematics and the inverse kinematics of the deformable mobile robot＇s single leg were solved and simulated. Finally the results of the simulation suggest that the method in this paper is correct and practical, and it gives a new road to solve the new kind mobile robot＇s kinematics.

关 键 词：移动机器人 运动学 仿真技术 运动学正解 运动学逆解 DH法则 

分 类 号：C302[社会学] TB114[理学—概率论与数理统计]