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一种多自由度蟑螂机器人的运动学分析 被引量：1

Kinematics Analysis of a Multi-Freedom Cockroach Robot
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摘要 建立了仿生蟑螂机器人在三腿支撑状态下的等效并联模型,运用旋量理论和指数积公式,对其运动学进行了分析;提出了利用Paden-Kahan子问题法数值求解机器人六自由度腿的关节角位移的逆运动学方法,前向运动学的求解首先根据机体的自然约束建立两条描述前向运动学的支路,然后利用其等价关系,结合指数积公式推导得到机体位姿;在Matlab下对提出的运动学算法进行了验证,为后续的运动学分析和轨迹规划奠定了基础。 The paper has established an equivalent parallel mechanism of a muhi freedom cockroach robot and analyzed its kinenlalics with twist thcory and product of exponential formula. Based on the Paden Kahan sub problem method, a numerical method for inverse ki- nematics has been presenled for thc 6-DOF leg of the robot. According to the natural constraint of the configuration, two different equations for the forward kinematics problem have been built. With the product of exponential formula, a forward kinematics can he deduced by their equality. Finally, the proposed methods have been validated by nsing MATLAB.
作者 徐鲤鸿 陈伟海 宋蔚阳
机构地区 北京航空航天大学自动化科学与电气工程学院
出处 《计算机测量与控制》 CSCD 2008年第1期97-99,127,共4页 Computer Measurement &Control
基金 国家自然科学基金资助项目(60575052)
关键词 仿生蟑螂机器人 运动学 子问题法 cockroach robot kinematics sub problem method
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献12

  • 1Schroer R T, Boggess M J,Bachmann R J,et al. Comparing cock- roach and whegs robot body motions [A]. Proc. of the IEEE Inter. Conf. on Robotics and Automation [C]. New Orleans, 2004,3288--3293.
  • 2Bai S P, Low K H, Guo W M. Kinematographic experiments on leg movements and body trajectories of cockroach walking on differ ent terrain [A]. Proc. of IEEE Inter. Conf. on Robotics and Automation [C]. San Francisco, USA, 2000, 2605--2610.
  • 3Boggess M J, Schroer R T, Quinn R D, et al. Mechanized cockroach footpaths enable cockroach- like mobility [A]. Proe. of IEEE Inter. Conf. on Robotics and Automation [C]. New Orleans. 2004, 2871--2876.
  • 4Quinn R D, Ritzmann R E. Construction of a hexapod robot with cockroach kinematics benefits both robotics and biology [J]. Connection Science, 1998, 10 (3):239-254.
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  • 7Karalarli E, Erkmen A M, Erkmen I. Intelligent gait synthesizer for hexapod walking rescue robots [A]. Proc. of IEEE, Inter. Conf. on Robotics and Automation[C]. 2004, 2177--2182.
  • 8Chen I M, Yang G L. Inverse Kinematics for Modular Reconfigurable Robots [A]. Proc. of IEEE Inter. Conf. on Robotics and Automation [C]. 1998, 1647--1652.
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计算机测量与控制
2008年 第1期

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