【摘要】 介绍了拱泥仿生机器人的基本组成和工作原理,并根据其运动特点建立了拱泥仿生机器人的运动轨迹数学模型,利用MATLAB进行其沿预定轨迹运动的轨迹仿真。通过轨迹仿真,可以直观显示拱泥仿生机器人运动时的位姿变化情况,为拱泥仿生机器人虚拟样机研究工作和工程样机的路径规划奠定了理论基础。更多还原

【Abstract】 The basic components and operating principle of move-in-mud bionic robots are introduced.A mathematics model of motion trace of a move-in-mud bionic robot is established according to its motion characteristics,and the trace simulation is carried out using Matlab when it moves along the given trace.The motion trace can visually display pose change of the robot,which can provide important theoretical principle for the research on the simulation prototype of move-in-mud bionic robots and motion trace design of the engineering prototype.更多还原