溜冰机器人运动学分析

Kinematic Analysis of Ice-Skater Robot

设计了腿轮混合结构的溜冰机器人 .基于常规的运动学分析方法 ,建立了相关的惯性坐标系和滚轮坐标系 ,并根据滚轮在法向无滑动、切向作纯滚动的假设 ,建立了中心定位轮的运动约束方程及机器人的运动学模型 .提出了法向和切向运动特征矩阵的概念 ,并讨论了机器人的移动性问题 ,得出机器人存在运动的条件 .设计了溜冰机器人运动学状态空间表达式和运动学控制方程 .以溜冰机器人为例 。

An ice-skater robot of leg-wheeled type was designed according to the Roller-Walker and ALDURO. On the basis of kinematic analytical methods, the inertial coordinate system and wheel coordinate system were established. The kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and there is pure rolling in tangential direction of the wheels. The kinematic model was established and the mobility was discussed with respect to the new concepts of motion characteristic matrix in normal direction and tangential direction. The motion condition equation of the robot was obtained in sequence. The kinematic state space representation and its corresponding control equation of the ice-skater robot were presented. The paper analyzed the kinematics of the robot when it turns aside or skates straight were analyzed respectively.