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空间四面体翻滚机器人运动学分析及仿真实验

张利格 毕树生 彭朝琴

张利格, 毕树生, 彭朝琴等 . 空间四面体翻滚机器人运动学分析及仿真实验[J]. 北京航空航天大学学报, 2011, 37(4): 415-420.
引用本文: 张利格, 毕树生, 彭朝琴等 . 空间四面体翻滚机器人运动学分析及仿真实验[J]. 北京航空航天大学学报, 2011, 37(4): 415-420.
Zhang Lige, Bi Shusheng, Peng Zhaoqinet al. Motion analysis and simulation of tetrahedral rolling robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 415-420. (in Chinese)
Citation: Zhang Lige, Bi Shusheng, Peng Zhaoqinet al. Motion analysis and simulation of tetrahedral rolling robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 415-420. (in Chinese)

空间四面体翻滚机器人运动学分析及仿真实验

详细信息
    作者简介:

    张利格(1978-),女,北京人,博士后,zhanglige@buaa.edu.cn.

  • 中图分类号: TP 242

Motion analysis and simulation of tetrahedral rolling robot

  • 摘要: 对四面体及多面体机器人的研究现状进行了分析.介绍了空间四面体翻滚机器人的结构,由6根伸缩臂和4个顶部节点平台组成,通过伸缩臂的运动可以使四面体的重心失稳,实现翻滚运动.结合四面体翻滚机器人的运动形式,给出了翻滚的临界条件,根据不同的运动阶段对四面体翻滚机器人进行了运动学分析.利用Adams虚拟样机技术对四面体翻滚机器人进行了运动学仿真,并进行了样机的实验,验证了方法的正确性.该分析结果可进一步用于空间四面体翻滚机器人的动力学分析和优化设计.

     

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出版历程
  • 收稿日期:  2010-01-21
  • 网络出版日期:  2011-04-30

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