文章摘要
罗玉坤,周健,李立君,高自成.基于旋量理论的4-R(SS)2并联机器人正运动学分析[J].机床与液压,2018,46(3):33-37
基于旋量理论的4-R(SS)2并联机器人正运动学分析
Direct Kinematic Analysis of 4-R(SS) 2 Parallel Robot Based on Screw Theory
  
DOI:10.3969/j.issn.1001-3881.2018.03.009
中文关键词: Delta机器人  4-R(SS) 2  旋量理论  运动学分析
英文关键词: Delta robot  4-R(SS) 2  Screw theory  Kinematic analysis
基金项目:湖南省高校科技创新团队支持计划资助(2014207);2017长沙市科技计划项目(kq1706077);2016湖南林业科技计划项目(xlk201665);2017湖南省教育厅科研项目(17C1665)
作者单位E-mail
罗玉坤 中南林业科技大学机电工程学院 517775233@qq.com 
周健 中南林业科技大学机电工程学院  
李立君 中南林业科技大学机电工程学院  
高自成 中南林业科技大学机电工程学院  
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中文摘要:
      研究机器人运动学较为传统的方法为D-H参数法,以4-R(SS) 2并联机器人为研究对象,基于旋量理论,根据指数积公式对该机器人进行正运动学分析,得到机器人的位姿变换矩阵。旋量法只需要建立惯性坐标系S和工具坐标系T,经过每一个关节变量之间的变换,最终可得到其运动学方程。与D-H参数法相比,此方法使运动学模型变得更为简单,并且具有更明确的几何意义。最后对并联机器人进行运动仿真,构建其仿真模型,确定机器人各结构的参数,输入随机关节变量,得到的结果与文中计算的结果进行对比,验证本文方法的准确性。
英文摘要:
      Denavit-Hartenberg (D-H) is the traditional parametric method for kinematic analysis of parallel robot in research. The positive kinematic analysis is carried out on the robot according to exponential product formula based on the screw theory which taking a 4-R(SS) 2 parallel robot as research object to get the position and orientation transformation matrix. The screw theory was just needed to establish a inertial and a tool coordinate system (Marked as S and T), and via transformation between each joint variable to get the kinematic equation finally. By comparison with the D-H method, this method made the motion models much more simplified, and meaning of geometry was much more clear. Finally, the parallel robot was kinematically simulated by Matlab to construct its simulation model. Confirmed the parameters of the robot’ s every structure and got some output results by inputing several random joints variables. The accuracy of the method of the screw theory is verified by comparing the output results obtained with the ones calculated.
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