基于计算机辅助几何法的多足步行机器人运动学分析系统  

Multi-legged robot kinematics analysis system based on computer aided geometric method

作　　者：王良文[1] 唐维纲[1] 王新杰[1] 陈卫红[1] 

机构地区：[1]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机械设计》2012年第7期29-33,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(50875246);河南省高校科技创新团队支持计划资助项目(2012IRTSTHN013)

摘　　要：提出了基于计算机辅助几何法的多足步行机器人运动学分析方法。基于多足步行机器人内部的结构约束关系,建立了典型结构机器人的SolidWorks模型,利用VB驱动对SolidWorks进行二次开发,建立了一个能够自动求解多足步行机器人爬行步态的正运动学求解系统。该系统操作简单,适用于所有爬行类多足步行机器人。A kinematic analysis method in multi-legged walk-ing robot based on the computer aided geometric method is pro-posed. In consideration of the internal structural constraint relations of multi-legged walking robots, the SolidWorks model was construc-ted and Visual Basic platform was adopted to fulfill the secondary development of SolidWorks. The system of forward kinematics anal-ysis of multi-legged walking robots was established, which could solve the kinematics problem. ＂The example validates that the sys-tem is simple and effective for all reptiles-like quadruped walking robot.

关 键 词：多足步行机器人 运动学 几何法 SOLIDWORKS二次开发 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]