蛇形移动输送机运动学仿真分析

Simulation Analysis of Snake Mobile Conveyor's Kinematics

介绍了一种新型的可以实现水平弯曲和垂直弯曲的多驱动的并且可以自主行走的带式输送机,该系统为典型的非完整、欠驱动系统,文中分析系统的运动学特性,建立了运动学方程,并运用理论分析的运动学模型进行了仿真分析,证明该输送机运动特性与带拖车移动机器人有相似的运动特性和运动规律。

Introduced a new type of multiple-driving conveyor which can horizontal bend, vertical bend and also can move independently. It is a typical non-complete, under-actuated system, analyzed the kinematics of it, established the kinematics equations, carried out a simulation analysis based on the model of kinematics, proved that movement and characteristics of the conveyor is similar to the trailer mobile robot.