【摘要】 设计了腿轮混合结构的溜冰机器人 .基于常规的运动学分析方法 ,建立了相关的惯性坐标系和滚轮坐标系 ,并根据滚轮在法向无滑动、切向作纯滚动的假设 ,建立了中心定位轮的运动约束方程及机器人的运动学模型 .提出了法向和切向运动特征矩阵的概念 ,并讨论了机器人的移动性问题 ,得出机器人存在运动的条件 .设计了溜冰机器人运动学状态空间表达式和运动学控制方程 .以溜冰机器人为例 ,分析了其转弯和直线滑行时的运动学问题更多还原

【Abstract】 An ice skater robot of leg wheeled type was designed according to the Roller Walker and ALDURO. On the basis of kinematic analysis methods, the paper founded the inertial coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and a pure rolling in tangential direction of the wheels. Then, the kinematic model was established and the mobility was discussed based on the new concepts of motion characteristic matrix in normal direction and tangential direction. And the motion condition equation of the robot was gotten in sequence. The kinematic state space representation and its corresponding control equation of the ice skater robot were presented. At last, the paper analyzed the kinematics of the ice skater robot when it turns aside or skates straight respectively.更多还原