一种新的树型可重构机器人

A NEW KIND OF RECONFIGURABLE TREE-TYPE ROBOTS

  • 摘要: 本文提出一种新的具有树型结构的可重构机器人模型.首先研究了这种树型可重构机器人的模型及结构变化.接着研究了树型机器人的结构表征及运动学、动力学关系,这是研究树型可重构机器人的基础.然后研究了树型可重构机器人结构变化的表征,给出了一个结构变化阵和一个辅助的结构变化阵来表征其结构变化.最后建立了树型可重构机器人的运动学和动力学方程.

     

    Abstract: This paper proposes a new kind of reconfigurable robotic model which is of a tree-type structure.First,the model and structural change of the reconfigurable tree-type robot are studied.Secondly,the structuralcharacterization and the kinematic and dynamic equations of tree-type robot are investigated,which is thebase for investigating the reconfigurable robot.Then,the structural change of the reconfigurable robot ischaracterized by a structural matrix and an auxiliary structural change matrix.Finally,the kinematic and dy-namic equations of the reconfigurable robot are established.

     

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