机器人模块化的结构设计研究
STRUCTURAL DESIGN OF ROBOT MODULARIZATION
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摘要: 对模块机器人的结构进行分析设计,以长方体作为连杆模块,归纳出9种模块联结方式,3种关节模块形式,根据Plucker坐标法,建立各种模块的坐标系及相应的数学表达式组.Abstract: This paper analyzes the structure of modular robot, of which the link module is of cuboid. Nine kinds of module-connecting methods and three types of joint modules are induced. Based on the method of Plucker coordinates, the coordinate system and the corresponding mathematical expressions for each kind of module are set up.