| 导轨移动式冗余度操作臂的运动学分析 |
| |
| 引用本文： | 张武,丁希仑.导轨移动式冗余度操作臂的运动学分析[J].北京航空航天大学学报,2004,30(5):475-478. |
| |
| 作者姓名： | 张武 丁希仑 |
| |
| 作者单位： | 北京航空航天大学 机械工程及自动化学院, 北京 100083 |
| |
| 基金项目： | 国家高技术研究发展计划(863计划)，北京市科技新星计划项目 |
| |
| 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.
|
| 关 键 词： | 冗余 运动学 导轨 操作臂 |
| 文章编号： | 1001-5965(2004)05-0475-04 |
| 收稿时间： | 2002-12-27 |
| 修稿时间： | 2002年12月27日 |
Kinematics analysis of slide redundant manipulator |
| |
| Zhang Wu,Ding Xilun.Kinematics analysis of slide redundant manipulator[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(5):475-478. |
| |
| Authors: | Zhang Wu Ding Xilun |
| |
| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
| |
| 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. |
| |
| Keywords: | redundancy kinematics slide manipulator |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《北京航空航天大学学报》浏览原始摘要信息 |
| 点击此处可从《北京航空航天大学学报》下载免费的PDF全文 |
