文档介绍：基于运动相对性的六足机器人机体运动规划李满宏张明路张建华张小俊河北工业大学,天津,300130摘要:将处于支撑相的六足机器人视为时变的并联机构进行运动学分析,给出了姿态给定情况下机体工作空间的确定方法及边界方程。在此基础上基于运动相对性原理,提出将机体的运动规划转化为足端轨迹规划的方法,从而简化机体运动规划中逆解的求取问题,并通过仿真与实验进行了验证。结果表明:六足机器人在支撑相内机体的工作空间为至多是支撑腿条数个空心球体的交集,利用运动相对性原理对支撑相内机体的运动规划问题进行转化简便、可行。关键词:六足机器人;工作空间;相对运动;运动规划中图分类号:TP242 DOI:.1004 Motion Planning for a Hexapod Robot Based on Relative MotionLi Manhong Zhang Minglu Zhang Jianhua Zhang XiaojunHebei University of Technology,Tianjin,300130Abstract:A hexapod robot in support phase was regarded as a time-varying parallel mechanism tomake the kinematics determination methods and boundary equations of the workspacewere described herein for the hexapod robot whose body posture was on the relative mo-tion theory,a method to transform body motion planning into foot trajectory planning was presentedto simplify the issue of body motion and experimental results show that theworkspace for the hexapod robot in support phase is the intersection of the hollow spheres whosenumber is up to the number of the support legs and using the principles of relative motion to trans-form the issue of body motion planning in support phase it is simple and words:hexapod robot;workspace;relative motion;motion planning收稿日期:201 3 10 27基金项目:国家高技术研究发展计划(863 计划)资助项目(2012AA041 508 );天津市自然科学基金资助项目(12JCYBJC12100)0