摘要
利用轮滑原理,研制出双足腿轮式溜冰机器人。针对机器人自由度较多,不存在固定基座,常规的方法不宜进行其运动学分析的困难,引入右脚等效滚轮相对于参考坐标系的坐标转换矩阵,建立了双足溜冰机器人统一的运动学模型,推导了机器人正逆运动学公式。通过步态规划仿真实验,验证了运动学模型及其推导公式的正确性。
A biped ice skater robot of leg-wheeled passive wheel type was designed on the basis of rolling and skating principle. As the robot had 12 degree-of-freedom and had not fixed base as industrial robot, it was difficult to make research into its kinematics with the conventional methods. After the concepts of coordinate conversion matrix of the equal wheel under the right foot were put forward, the paper founded the uniform kinematic model. Meanwhile, the direct kinematics and the inverse one were discussed in detail. Lastly, the validity of this motion principle and the kinematic analysis of BISR were verified by the simulation in ADAMS and the experiments of its gait planning.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第3期230-233,共4页
China Mechanical Engineering
