摘要
针对室外复杂环境,结合轮式行走机构与履带式行走机构的优点,设计了一种轮履组合式环保机器人,阐述了轮履变换装置及实现。运用大型三维软件UG NX建立了机器人的模型。通过齐次坐标变换建立了机器人的运动学模型,并对正运动学及逆运动学进行了求解。运用UG的运动仿真模块对机械手进行了运动学仿真,结果表明该机械手能够很好的完成收集垃圾任务。
Aiming at the environment of the outdoors,and comparing the advantages of the wheeled walking mechanism and tracked walking mechanism,a wheeled-tracked environment robot was designed,also the changing mechanism design and its realization were expounded.Using UG NX,a model was established.The kinematics model for robot was established by means of the homogeneous coordinate transformation,then both forward and inverse kinematics were solved.To carry out the kinematics simulation,motion simulation module of UG was used.The results showed that it can well finish the task of collecting garbage.
出处
《机械科学与技术》
CSCD
北大核心
2012年第4期674-678,684,共6页
Mechanical Science and Technology for Aerospace Engineering
关键词
轮履组合变换
环保机器人
运动学分析
仿真
wheeled-tracked changing
environmental robot
kinematics analysis
simulation
