【摘要】 利用轮滑原理,研制出双足从动轮式溜冰机器人(BISR),简要介绍了机器人运动原理与结构特点。根据机器人实现"葫芦步"直线滑行的步态设计,提出了机器人的简化运动模型。运用非完整约束存在时的Routh方程推导出机器人以"葫芦步"直线滑行时的动力学微分方程,给出实际算例进行了计算机仿真和实验。最后,得出了相关结论。更多还原

【Abstract】 This paper presented a new passive wheel type of Biped Ice-Skater Robot(BISR) on the basis of ice-skating principle. The paper narrated briefly its motion principle and construction. Also, the posture of the robot in every gait when it skated straight was discussed and planed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange Routh Equation when the nonholonomic constraints existed. Then, the paper gave out actual examples and simulated the result on computer. Finally, some related conclusions were drawn.更多还原