双足滚轮式溜冰机器人及其运动学建模

Biped roller-skating robot and its dynamics modelling

首先根据溜冰运动的特点来配置两足溜冰机器人的运动自由度,设计了两足溜冰机器人样机。在此基础上进行了溜冰机器人的运动学及逆运动学分析。采用Denavit-Hartenberg规则建立了溜冰机器人的运动学模型,并求得了运动学逆问题的显式解。

Firstly on the basis of the characteristics of skating sport this paper configured the movements DOF of the biped roller- skating robot and designed the prototype of biped roller-skating robot. Taking this as a base, the kinematics and inverse kinematics analyses of roller-skating robot were carried out. The kinematics model of skating robot was established by adopting the Denavit- Hartanberg rule, and the explicit solution of kinematics problems was found out.