摘要
应用矩阵理论方法,研究了具有特定腿机构——空间缩放机构的四足步行机运动学中的位置问题,从而得出了表示步行机运动状态的位置姿态、各腿关节位移量和足的位置这三组变量之间的关系,以及已知任意两组求第三组变量的公式。还提出了一种步行机实现简单行走运动的控制方法,并用MCS-51系到单片机控制系统,完成了四足步行机“WL-Ⅰ”的平地直线行走实验。
Studied is kinematics of four-legged walking vehicle with special three-dimensional pantograph mechanism as its legs. By using matrix method, three groups of values are revealed, i.e. position and posture of vehicle body, displacement of every joint in legs, and position of each foot tip, and formulas derived for calculating any one of them with the other two known. In order to research and develop four-legged walking vehicle, a prototype called WL-I is built, and a method put forward to control its motion. With the help of the control system based on single-chip computer MCS-51 designed by authors, the experiment of straight line walking on flat ground is implemented.
关键词
步行机
运动控制
运动学
机器人
walking vehicle, three-dimensional pantograph mechanism, kinematics, computer control.
