摘要
主要分析了仿生蚂蚁煤矿救灾机器人匀速爬行时的运动情况,未考虑加速度。同时分析了仿生蚂蚁煤矿救灾机器人SLER-1运动时的的单腿运动情况,采用D-H法,对机器人单腿的正、逆运动学进行了分析,并进行了实例验证。
Analysis of the major coal mine disaster relief biomimetic robots uniform ants crawling the campaign, did not consider acceleration. It analyzes the bionic robot ants coal mine disaster relief campaign SLER - 1 single leg of the campaign, using the D - H method, the robot single leg of the forward and inverse kinematics were analyzed, and the example shows .
出处
《煤矿机械》
北大核心
2008年第1期83-84,共2页
Coal Mine Machinery
基金
国家"863"项目(2006AA004Z208)
关键词
仿生蚂蚁煤矿救灾机器人
单腿运动学
D—H法
bionic ants coal mine disaster relief robot
single leg kinematics
D - H law
