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针对轮式机器人地形适应能力差与腿式机器人移动速度受限的问题,设计了一个既能爬行又能滚动行驶的轮腿混合式的四足机器人,采用钢丝绳驱动方式来实现机器人脚轮的工作状态转换。在对机器人进行整体设计和腿部机构详细设计的基础上,运用D-H法建立站立腿的运动学方程,并通过几何法验证了运动学方程的正确性。借助MATLAB软件,编程程序绘制了摆动腿的运动空间,并分析了机器人的越障能力。
Aiming at the problem that the terrain adaptability of wheeled robot is poor and the moving speed of legged robot is limited, a wheel-leg hybrid quadruped robot which can crawl and roll is designed. The working mode of the robot casters Conversion. Based on the overall design of the robot and the detailed design of the leg mechanism, the kinematic equation of the standing leg is established by using the D-H method and the correctness of the kinematics equation is verified by the geometric method. With MATLAB software, the programming program draws the movement space of the swing leg and analyzes the robot’s obstacle clearance ability.