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依据人在蛙式滑板车上的运动特点,研制了一种新型蛙板滑行机器人。从仿生角度设计机器人的驱动装置,使机器人可实现双臂对称摆动和单臂摆动两种基本运动形式。对机器人在两种转弯方式下的转弯性能进行分析,给出了机器人方向轮转弯半径计算公式。应用MATLAB对机器人转弯特性进行仿真分析,并采用3D运动捕捉系统建立实体样机测试平台,对样机在不同转弯方式下的运动特性进行试验验证,研究结果验证了蛙板机器人转弯运动模型的合理性和正确性。
Based on the movement characteristics of people in the frog scooter, a new type of frog sliding robot has been developed. From the aspect of bionic design, the robot’s driving device is designed so that the robot can realize two basic forms of symmetrical movement of arms and one arm of swing. The turning performance of the robot under two turning modes is analyzed, and the calculation formula of the turning radius of the steering wheel of the robot is given. The simulation of turning characteristics of robots is carried out by using MATLAB, and the physical prototype test platform is established by using 3D motion capture system. The test prototype of the robot is tested with different turning modes. The results verify the rationality of the turning motion model of the frog plate robot. Correctness