沈阳航空航天大学学报Issue(2)：51-55,5.DOI:10.3969/j.issn.2095-1248.2014.02.012
平行四边形可变形履带机器人运动学分析
Kinematics analysis of variable parallelogram tracked mobile robot
摘要
Abstract
The variable parallelogram tracked mobile robot( VPTMR) ,which has a favorable obstacle-cross-ing ability,is designed to adapt to the disaster rescuing environment. In this paper,the motion analysis and planning in the process of step-climbing have been studied for VPTMR. Kinemics model has been established by stage to analyze the relationship between CG and lower arm posture. To keep CG lowest,movement pos-ture of this robot during the obstacle-crossing process is optimized,and the fitting of planning curve of the arm swing angle is carried out. The results before and after optimization are compared and analyzed,laying a foundation for the further dynamic analysis,which verifies the correctness of motion planning and the effec-tiveness of posture optimization.关键词
变形履带机器人/运动学/动作规划/优化Key words
variable tracked mobile robot/kinematics/motion planning/optimization分类
信息技术与安全科学引用本文复制引用
叶长龙,杨孔硕,马国静..平行四边形可变形履带机器人运动学分析[J].沈阳航空航天大学学报,2014,(2):51-55,5.基金项目
沈阳市科技攻关项目(项目编号:F12-067-2-00) （项目编号:F12-067-2-00）
