新型变型移动机器人腿部雅可比矩阵研究  

Jacobian matrix analysis of leg for a new kind deformable mobile robot

作　　者：宋孟军[1,2] 张建华[1] 张明路[1] 贾伟 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]天津职业技术师范大学汽车与交通学院,天津300222 [3]邯钢邯宝公司热轧厂,河北邯郸056015

出　　处：《机械设计》2013年第3期21-26,共6页Journal of Machine Design

基　　金：国家自然科学基金资助项目（61075097）; 天津市自然科学基金资助项目（12JCYBJC12100）

摘　　要：以一种新型变形移动机器人为研究对象,利用矢量积法对变形移动机器人的雅可比矩阵进行了求解,并对矢量积法所求结果进行了数学仿真和三维模型的仿真。文中同时利用微分变换法进行了雅可比矩阵的求解,并利用所求结果对矢量积法进行了再次验证,多重验证与仿真的结果表明雅可比矩阵求解正确。文中所用分析方法可以为机器人运动学分析和实际应用提供较好的方法借鉴。By taking a new kind deformable mobile robot as research object and by using vector multiplication method,the Jacobian matrix of deformable mobile robot was carried out,and the mathematics simulation and the simulation of 3D model have been conducted about the obtained result.The differential transform method was also used to solve the Jacobian matrix,and the obtained result was used to re-verify that obtained by vector multiplication method.The multiply verified and simulated result shows that the Jacobian matrix solution is correct.The analysis methods used in this paper can provide much better methods for reference for robot kinematic analysis and actual application.

关 键 词：移动机器人 运动学 雅可比矩阵 矢量积 微分变换 

分 类 号：C302[社会学] TB114[理学—概率论与数理统计]