| 双足滚轮式溜冰机器人及其运动学建模 |
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| 引用本文： | 李金良,孙友霞,于岩. 双足滚轮式溜冰机器人及其运动学建模[J]. 机械设计, 2009, 26(7) |
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| 作者姓名： | 李金良 孙友霞 于岩 |
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| 作者单位： | 山东科技大学机械电子工程学院,山东,青岛,266510;山东科技大学机械电子工程学院,山东,青岛,266510;山东科技大学机械电子工程学院,山东,青岛,266510 |
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| 摘 要： | 首先根据溜冰运动的特点来配置两足溜冰机器人的运动自由度,设计了两足溜冰机器人样机.在此基础上进行了溜冰机器人的运动学及逆运动学分析.采用Denavit-Hartenberg规则建立了溜冰机器人的运动学模型,并求得了运动学逆问题的显式解.
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| 关 键 词： | 两足溜冰机器人 运动学 逆运动学 |
Biped roller-skating robot and its dynamics modelling |
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| Li Jin-liang,SUN You-xia,YU Yan. Biped roller-skating robot and its dynamics modelling[J]. Journal of Machine Design, 2009, 26(7) |
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| Authors: | Li Jin-liang SUN You-xia YU Yan |
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| Affiliation: | School of Mechanical and Electronics Engineering;Shandong University of Science and Technology;Qingdao 266510;China |
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| Abstract: | Firstly on the basis of the characteristics of skating sport this paper configured the movements DOF of the biped roller-skating robot and designed the prototype of biped roller-skating robot.Taking this as a base,the kinematics and inverse kinematics analyses of roller-skating robot were carried out.The kinematics model of skating robot was established by adopting the Denavit-Hartenberg rule,and the explicit solution of kinematics problems was found out. |
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| Keywords: | biped miler-skating robot kinematics inversekinematics |
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