8轮腿移动机器人平台设计及其运动学分析  

Eight wheel-legged mobile robot platform design and kinematic analysis

作　　者：张建华[1] 张小俊[1] 张明路[1] 郭方恒[2] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]北京铁路局保定工务器材厂,河北保定071000

出　　处：《机械设计》2012年第8期35-39,共5页Journal of Machine Design

基　　金：国家自然基金资助项目(61075097);河北省自然基金资助项目(E2010000049);天津市自然基金资助项目(12JCYBJC12100)

摘　　要：提出了一种8轮腿式移动机器人平台,该平台可在平整地形环境下采用轮式行进方式,在非平整地形环境下采用轮腿复合行进方式,具备较强的地形适应能力。文中针对该平台进行了结构设计和运动学分析,并对逆运动学分析结果进行了仿真验证。A new type of eight wheel-legged mobile robot plat- form which can use its wheels march on a fiat terrain environment and use it＇ s wheel legs on an uneven terrain environment is pro- posed in this paper. This new wheel-legged mobile robot platform has a strong ability to adapt to the terrain. The structural design and kinematics analysis of this mobile platform are done in this paper, and the inverse kinematics analysis of the results is verified by the simulation result.

关 键 词：移动机器人 轮腿式 运动学 仿真 

分 类 号：C302[社会学] TB114[理学—概率论与数理统计]