摘要
设计了一种前进时可作周期性运动的蛇形机器人,按照平面机械手运动学求解方法,通过对蛇形机器人的逆运动学求解,得出在一个周期内几个关键时刻的关节角,并根据蛇形机器人运动的周期性,对各关节角采用曲线拟合方法规划出了关节角变化规律。最后,在做出的蛇形机器人的实体模型上验证了此方法的正确性。
A new type of periodical moving snake-like robot is designed in this paper.According to the method of manipulators kinematics,values of several joint-anglesat some key moment in one period have been obtained with inverse kinematics solution of the snake-like robot.Then curve-fitting method has been used for planning the changing rules of these joint-angles based on the periodical motion of the snake-like robot.Finally,we have made a real model of the snake-like robot and it has proved our forecast.
出处
《机械设计与研究》
CSCD
2004年第5期23-25,共3页
Machine Design And Research
关键词
蛇形机器人
周期性运动
逆运动学
曲线拟合方法
实体模型
snake-like robot
periodical motion
inverse kinematics solution
curve-fitting method
real model
