【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。更多还原

【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.更多还原