可重构星球探测机器人的运动学建模及轨迹规划

提出了可重构星球探测机器人的概念，对系统中子机器人的研究进行了重点论述．通过设计恰当的子机器人连杆坐标系，利用Denavit-Hartenberg方法完成了子机器人的运动学建模，并直接给出了子机器人的运动学正解模型．由于使用单一的求解算法不能求出工作空间的封闭解，因此综合利用代数法、几何法原理及空间投影关系，结合子机器人的结构特殊性推导出了运动学逆解，从而得到了工作空间内的所有解．在此基础上，考虑结构间的约束关系，给出了子机器人的工作空间及轨迹规划方法．最后，使用OpenGL对设计的子机器人系统进行了运动学仿真实验，实验以末端操作器的直线运动为例，充分考虑空间几何的关系，其结果有效地证明了建模及轨迹规划的正确性。

Kinematic Modeling and Trajectory Planning for Reconfigurable Planetary Robot System

A new reconfigurable planetary robot system (RPRS) is introduced in this paper. The sub-robot 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 sub-robot. 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 sub-robot. .