摘要
通过对六足步行机器人步行足的运动学分析,按照坐标系的建立原则,选取机构中的转动副作为关节变量,推导出各关节的广义变换矩阵,得到了步行足足端的运动学方程,求出步行足足端点运动学的正解坐标系,利用paul等人提出的代数解法进行了运动学逆解分析,并借助计算机对其逆解进行了验证,为后续的运动学分析和轨迹规划奠定了基础。
Based on the analysis of the movement of the hexapod and the principle of the D - H coordination, selecting the revolution joint as variable, the kinematics equation and the walking -foot - end forward kinematics coordination was educed by generalized matrix - transforming. Using the algebras method that was put forward by Paul to computing the inverse kinematics, and using the computer process validation, which constitute the foundation for subsequent analysis of kinematics and trajectory planning.
出处
《机械设计与制造》
北大核心
2006年第9期119-121,共3页
Machinery Design & Manufacture
关键词
六足机器人
运动学
分析与验证
Hexapod - robot
Kinematics
Analysis ＆Validation
