摘要
机器人的灵活性是机器人运动学中比较重要的一个性能;本文利用几何构图法和数值分析方法对一种可变形多足移动机器人腿部机构的灵活性进行了分析研究;研究证明了可变形多足移动机器人腿部机构在平面内的灵活度;并通过计算空间自由度,对可变形移动机器人腿部机构在空间内的灵活性进行了初步研究;通过解算几何关系,给出仿真结果;最后依据灵活性分析结果对腿部机构的工作性能和逆解存在状况进行了分析研究。
The flexibility of robots is an important part of the robot kinematics analysis.Based on both geometric composition and numerical analysis methods,this paper analyzes the flexibility of a deformable mobile robot＇s leg.And the method of geometrical composition is used to prove the flexibility of deformable mobile robot＇s leg in the plane.Through calculating the space freedom of the deformable mobile robot＇s leg,its flexibility in the space is studied primarily.Analyzing the geometrical relationships,the simulation result of the flexibility in the space is presented.According to the analysis of the flexibility.Finally the working performance and the existing of inverse solution situation for the deformable mobile robot＇s leg is disscussed.
出处
《机械设计与研究》
CSCD
北大核心
2010年第6期37-40,共4页
Machine Design And Research
关键词
移动机器人
空间自由度
灵活度
灵活工作空间
运动学
运动学逆解
mobile Robot
space degrees of freedom
flexibility
flexible working space
kinematics
inverse kinematics
