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。
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.
引文
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