腿臂融合型在轨装配机器人运动建模与步态规划

针对目前机器人在轨装配存在的作业效率低、空间操作受限、环境感知不完全等问题，提出一种腿臂融合型在轨装配机器人。首先，使用D-H法建立了腿臂融合型装配机器人运动学模型，并对其单个腿部进行正逆运动学分析，得到单个腿各个关节角和足端之间的运动关系；其次，分析了腿臂融合型装配机器人的行走步态和装配步态，行走步态中分析了二步态和三步态，装配步态中分析了单臂装配和双臂装配，使机器人达到平稳的行走和装配；最后，基于ROS(robot operating system)搭建仿真平台并对行走步态进行了仿真验证，结果表明提出的方法能够有效用于该机器人的行走。

Motion modeling and gait planning of the leg-arm fusion robot for in-orbit assembly

In order to solve the problems of low efficiency，limited space operation and incomplete environment perception，a leg-arm fusion in-orbit assembly robot was proposed.Firstly，the kinematics model of the leg-arm fusion assembly robot was established by D-H method，and the forward and inverse kinematics of its legs were analyzed to obtain the motion relationship between each joint angle and the foot.Secondly，the walking gait and assembling gait of the leg-arm fusion assembly robot were analyzed.The two and three gait were analyzed in the walking gait，and the one-arm assembly and two-arm assembly were analyzed in the assembly gait，so that the robot could walk and assembly smoothly.Finally，a simulation platform based on ROS （robot operating system）was built and the effectiveness of the above walking gait was verified.The results show that the proposed method can be effectively applied to the walking of the robot.