In order to enable the robot to adapt the complex working environment,a new modular reconfigurable multi-legged robot is proposed,in which its six legs are evenly distributed on the six faces of the regular hexagonal body.The robot has the function of arm-leg conversion,and the legs can be converted into mechanical arms when the robot per-forms tasks.Firstly,based on the Denavit-Hartenberg(D-H)method,the mathematical model of the robot's legs was established and the kinematic analysis was carried out.Then,the Monte Carlo method was used to solve the leg working space of the robot,which provided a reference for the subsequent motion control and task execution of the robot.
关键词
多足机器人/可重构/工作空间/蒙特卡洛法
Key words
Multi-legged robots/Reconfigurable/Workspaces/Monte Carlo method
维普
万方数据