北京航空航天大学学报 ›› 2004, Vol. 30 ›› Issue (05): 475-478.

• 论文 • 上一篇    下一篇

导轨移动式冗余度操作臂的运动学分析

张武, 丁希仑   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2002-12-27 出版日期:2004-05-31 发布日期:2010-09-21
  • 作者简介:张 武(1975-),男,黑龙江大兴安岭人,硕士生, xlding@public3.bta.net.cn.
  • 基金资助:

    863计划资助项目(2002AA742044);北京市科技新星计划资助项目(H020821450120)

Kinematics analysis of slide redundant manipulator

Zhang Wu, Ding Xilun   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2002-12-27 Online:2004-05-31 Published:2010-09-21

摘要: 简介了导轨移动式冗余度操作臂系统的设计与实现.利用指数积(POE)方法进行了系统建模,对该操作臂系统进行正、逆运动学分析,同时对系统避奇异的理论方法进行研究,给出了方法的计算机仿真结果.在系统运动学分析中,充分利用了系统结构的几何特点,体现了系统简化分析和实际性能优化并重的思路.该运动学的分析方法具有一定的普遍性,对其它机器人系统的分析有一定的借鉴意义.

Abstract: The design scheme of the slide redundant manipulator system was introduced. POE(product of exponential) method was applied to build the system model.Forward and inverse kinematics were analyzed. The system singularity avoidance method was studied, and simulation results were given to illustrate the effectiveness of the method. During kinematics analyzing, its geometry characteristics were considered to embody the idea that was both important to system analysis simplification and system property optimization. So the method has universality to a certain extent, and can be extend to analyze the other robot systems.

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