摘要
本文以六足机器人为研究对象进行运动学分析,使用旋量理论求解出六足机器人运动学正解,并以运动学正解结果为依据结合Paden-Kahan子问题求解运动学逆解,在CATIA搭建三维模型,并导入MATLAB/Simulink,而后搭建平坦路面环境下的运动仿真,为后续的六足机器人运动平稳性的分析奠定了一定的基础。
This article takes the hexapod robot as the research object to carry on the kinematics analysis,uses the screw theory to solve the hexapod robot kinematics forward solution,and takes the kinematics forward solution result as the basis,uses the Paden-Kahan sub-problem to solve the kinematics inverse solution.A three-dimensional model is built in CATIA,and imported in matlab/simulink,and then the motion simulation under flat pavement environment is introduced,which lays a foundation for the subsequent analysis of motion stability of hexapod robot.
作者
刘园园
Liu Yuanyuan(School of Construction Machinery Chang’an University,Shaanxi Xi’an710064)
