Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure

Luo Jinliang; Wen Qun; He Jialai

doi:10.16578/j.issn.1004.2539.2015.05.023

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Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure

更新时间：2022-10-20

- Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure
- Vol. 39, Issue 5, Pages: 97-100(2015)
- 作者机构：
  
  1. 南华大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.05.023
  CLC：
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[1]罗金良,文群,何价来.轮腿式变结构工程机械行走机构的运动学分析[J].机械传动,2015,39(05):97-100+127.

Luo Jinliang, Wen Qun, He Jialai. Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure. [J]. 39(5):97-100(2015)
[1]罗金良,文群,何价来.轮腿式变结构工程机械行走机构的运动学分析[J].机械传动,2015,39(05):97-100+127. DOI： 10.16578/j.issn.1004.2539.2015.05.023.

Luo Jinliang, Wen Qun, He Jialai. Kinematics Analysis of the Leg-wheel Walking System of Engineering Machinery with Variable Structure. [J]. 39(5):97-100(2015) DOI： 10.16578/j.issn.1004.2539.2015.05.023.

摘要

建立变结构自适应工程机械行走机构的运动学模型,对支腿进行了正运动学分析和逆运动学分析,得到支腿末端位置、速度及加速度的显式表达式和已知支腿末端位置时,支腿各关节的转动角度。在运动学分析的基础上,采用蒙特卡洛方法,在Matlab上编程求出右前腿的工作空间。

Abstract

The kinematics model of walking system with variable structure of engineering machinery is established.The forward kinematics analysis and inverse kinematics analysis of right front leg is conducted,the explicit formulation of the position,velocity and acceleration at the end of right front leg is obtained.With the inverse kinematics analysis,the revolute angle of each joint in the right front leg is got with given end location of right front leg.Based on the kinematics analysis,the working space of the right front leg is solved through Monte Carlo algorithm by Matlab.

关键词

变结构行走机构运动学分析Mtalab

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Department of Automobile Engineering,Tangshan Polytechnic College

Department of Automation Engineering,Tangshan Polytechnic College

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Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education,Southwest University of Science and Technology

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