摘要
以建立的"穿地龙"机器人轨迹规划数学模型为计算机仿真模型,对"穿地龙"机器人工作时的运动过程进行了计算机仿真研究,编制了大量仿真程序,获得了较好的仿真结果.通过运行仿真程序,可以在计算机上直接观察到"穿地龙"机器人运动的过程.进行"穿地龙"机器人运动学、动力学仿真,该研究工作为改进"穿地龙"机器人试验样机设计,并为设计"穿地龙"机器人工作用机和进行"穿地龙"机器人的应用分析提供了一定的条件.
Taking track programming mathematical models of ＂mud puncturing dragon＂ robot as computer simulation models, the simulation of moving process of ＂mud puncturing dragon＂ robot by means of computer was studied. A number of simulation programs were programmed and some better simulation results were got- ten. By running the simulation programs, the moving process of ＂mud puncturing dragon＂ robot can be observed directly. On the basis of above work, kinematics and dynamics simulation of ＂mud puncturing dragon＂ robot can be studied. Meanwhile, this research is beneficial to the design improvement of both the model machine and the practical machine of ＂mud puncturing dragon＂ robot, and to the application analysis of the robot as well.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2009年第1期193-196,共4页
Journal of Harbin Institute of Technology
基金
黑龙江省科学技术计划项目(20010101005-00)
关键词
“穿地龙”机器人
轨迹规划
运动过程
计算机仿真
＂mud puncturing dragon＂ robot
track programming
moving process
computer simulation
作者简介
王殿君（1973-），男，博士，副教授；
孟庆鑫（1939-），男，教授，博士生导师．
