摘要
分析了人体腿部关节的运动特点,提出了一种3自由度3-RRR并联机构作为髋关节,2自由度球面机构Ur作为踝关节,转动副R作为膝关节的新型两足步行器;对两个并联关节的位置反解进行了研究;采用解析方法对步行机器人的位置反解进行了分析,得出反解的解析表达式,最后用实例验证了求解过程。该研究对机器人步态规划、动力学分析及控制的研究有重要意义。
The features of the human being＇ s leg joints were studied in this paper. A new biped robot with parallel mechanism 3-RRR and Ur joint was put forward. The inverse kinematics of 3- RRR and Ur were analyzed here. Then the inverse of the biped ro- bot was analyzed as a whole through an analytical process. The computation formula of inverse kinematics was deduced, a example was conducted, which verified the process of the analysis. The research in our paper is important for gait planning, dynamics and control.
出处
《机械设计》
CSCD
北大核心
2010年第5期39-44,共6页
Journal of Machine Design
基金
国家973计划资助项目(2006CB705402)
自然科学基金重点资助项目(60534020)
国家自然科学基金资助项目(50775065)
天津市自然科学基金资助项目(08JCYBJC03200)
关键词
步行机器人
并联机构
反解
关节
biped robot
parallel mechanism
inverse kine-matics
joint
