轮腿式变结构工程机械行走机构的运动学分析  

Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure

作　　者：罗金良[1] 文群[1] 何价来 

机构地区：[1]南华大学机械工程学院,湖南衡阳421001

出　　处：《机械传动》2015年第5期97-100,127,共5页Journal of Mechanical Transmission

基　　金：湖南省科技计划基金(2010GK3085);湖南省重点学科建设项目;衡阳市科技计划项目(2011KJ74)

摘　　要：建立变结构自适应工程机械行走机构的运动学模型,对支腿进行了正运动学分析和逆运动学分析,得到支腿末端位置、速度及加速度的显式表达式和已知支腿末端位置时,支腿各关节的转动角度。在运动学分析的基础上,采用蒙特卡洛方法,在Matlab上编程求出右前腿的工作空间。The kinematics model of walking system with variable structure of engineering machinery is established.The forward kinematics analysis and inverse kinematics analysis of right front leg is conducted,the explicit formulation of the position,velocity and acceleration at the end of right front leg is obtained.With the inverse kinematics analysis,the revolute angle of each joint in the right front leg is got with given end location of right front leg.Based on the kinematics analysis,the working space of the right front leg is solved through Monte Carlo algorithm by Matlab.

关 键 词：变结构 行走机构 运动学分析 Mtalab 

分 类 号：TH112[机械工程—机械设计及理论]