模块化多足机器人腿部工作空间研究  

Research on The Leg Workspace of A Modular Multi-legged Robot

作　　者：刘俊森 武炎明 Liu Jun-sen;Wu Yan-ming(Shenyang Ligong University,Shenyang 110159,China;Shenyang Aerospace University,Shenyang110136,China)

机构地区：[1]沈阳理工大学,辽宁沈阳110158 [2]沈阳航空航天大学,辽宁沈阳110136

出　　处：《内燃机与配件》2024年第6期128-130,共3页Internal Combustion Engine & Parts

基　　金：国家自然科学基金(青年)(62003337)。

摘　　要：为了使机器人能够适应复杂的工作环境,提出了一种新型模块化可重构多足机器人,其六条腿在正六边形躯体的六个面上均匀分布。机器人具有臂腿转换功能,机器人执行任务时,能够将腿转换成机械臂。首先,基于Denavit-Hartenberg(D-H)方法,建立机器人腿部的数学模型,并进行运动学分析。然后采用蒙特卡洛法对机器人的腿部工作空间进行求解,为后续机器人的运动控制、执行任务提供参考。In order to enable the robot to adapt the complex working environment,a new modular reconfigurable multi-legged robot is proposed,in which its six legs are evenly distributed on the six faces of the regular hexagonal body.The robot has the function of arm-leg conversion,and the legs can be converted into mechanical arms when the robot performs tasks.Firstly,based on the Denavit-Hartenberg(D-H) method,the mathematical model of the robot's legs was established and the kinematic analysis was carried out.Then,the Monte Carlo method was used to solve the leg working space of the robot,which provided a reference for the subsequent motion control and task execution of the robot.

关 键 词：多足机器人 可重构 工作空间 蒙特卡洛法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]