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| 具有三分支空间机器人的运动学分析 | |
| 引用本文： | 任敬轶,孙汉旭.具有三分支空间机器人的运动学分析[J].北京航空航天大学学报,2001,27(5):604-607. |
| 作者姓名： | 任敬轶 孙汉旭 |
| 作者单位： | 1. 北京航空航天大学 机械工程及自动化学院; 2. 北京邮电大学 机械电子工程系 |
| 摘 要： | 对三分支空间机器人机构进行运动学分析.首先给出了该空间机器人机构的模型和3种工作模式,在搬运和协调操作2种模式下机构采用了串并联的结构型式,在运动学上具有特殊性故成为研究重点.由于此时机构具有12个关节变量,其中只有6个是独立的,这样给机构的分析及控制带来了困难.为此,利用影响系数法推导了机构独立运动参数与非独立运动参数之间的约束方程,建立了输出运动与输入运动之间的映射关系.从而解决了机构的速度和加速度的反解问题. |
| 关 键 词： | 机器人 运动学 雅可比矩阵 |
| 文章编号： | 1001-5965(2001)05-0604-04 |
| 收稿时间： | 2000-03-21 |
| 修稿时间： | 2000年3月21日 |
Analysis of Kinematics of Three-Branch Space Robot |
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| REN Jing-yi,SUN Han-xu.Analysis of Kinematics of Three-Branch Space Robot[J].Journal of Beijing University of Aeronautics and Astronautics,2001,27(5):604-607. | |
| Authors: | REN Jing-yi SUN Han-xu |
| Institution: | 1. Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation; 2. Beijing University of Posts and Telecommunications, Dept. of Mechanical and Electronics Engineering |
| Abstract: | The kinematics of a three branch space robot mechanism was analyzed by presenting its model and discussing its three working modes. The space robot is a kind of serial parallel mechanism when it is working in carrying and cooperating modes. Since six out of its twelve joints are independent in this case, it is difficult to analyze and control this robot. By using influence coefficient method, the motion constraint equations of the mechanism were derived. The mapping of input and output was established. The inverse kinematics about velocity and acceleration were also solved. |
| Keywords: | robots kinematics Jacobi matrices |
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