Zhang Liping1,Ma Shugen2,Li Bin3,Zhang Zheng1,Zhang Guowei3£¬Cao Binggang1
(1.School of Mechanical Engineering,Xi'an Jiaotong University,Xi'an 710049,China; 2.Faculty of Engineering,Ibaraki University, Hitachi 316-8511,Japan;3.Robotics Lab, Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China£©
Abstract£ºA new reconfigurable planetary robot system (RPRS) is introduced in this paper. The subª²robot of RPRS is described in detail. By designing suitable links¡¯ coordinates of the sub-robot with Denavit-Hartenberg(D-H) method, the kinematics model is built.Using single method can not conclude the sub-robot's close solution, so the forward and inverse kinematics equations have been built according to the algebraic, geometrical and 3D projection of the links of the subª²robot. At the same time the working scope model and the restrictive conditions of the working space can be estimated. geometrical space relatives are considered in detail in trajectory planning. At last,the kinematics simulation experiments of the sub-robot were made by using OpenGL software. The results demonstrated the efficiency of the forward and inverse kinematics modeling and trace planning of the subª²robot.
Keywords:reconfigurable planetary;robot;modeling;trajectory planning