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简单介绍了一种新型机器人——基于手脚融合功能的多足步行机器人的结构,并对该类机器人的正运动学问题进行了详细研究。对该类机器人的两种典型运动状态——行走和抓取状态的运动学关系进行了阐述。文中首先根据机器人结构的约束关系导出了机器人机体轨迹(质心)的表达式,再对具有抓取功能的串联机械手的正运动学关系进行研究后,获得了机器人在抓取物体时的运动学关系。文中对相关公式进行了推导,给出了表达式,最后以相关算例进行了说明。该研究结果对于加快该类机器人的实用进程有显著意义。
The structure of a new robot, a multi-legged walking robot based on the fusion of the hands and feet, is introduced briefly. The positive kinematics of the robot is studied in detail. The kinematics relations of two kinds of typical motion states of the robot, walking and grasping, are expounded. In this paper, the expression of trajectory (centroid) of the robot body is first derived from the constraint of the robot structure, and then the positive kinematics relationship of the robot manipulator with the crawling function is studied. The kinematics of the robot when it grabs the object is obtained . The relevant formulas are deduced, the expressions are given, and finally the relevant examples are given. The results of this study are significant for accelerating the practical progress of such robots.