多节双八面体变几何桁架臂逆运动学解析算法

发布时间：2018-05-12 16:41

本文选题：双八面体变几何桁架臂 + 并联机械臂　；参考：《浙江大学学报(工学版)》2017年01期

【摘要】：针对多节双八面体变几何桁架臂(VGT)的逆运动学快速准确求解问题,提出逆运动学解析算法.根据双八面体VGT对称结构和镜像变换矩阵,引入不依赖于欧拉角和Denavit-Hartenberg(D-H)参数的旋转矩阵.通过建立2个辅助坐标系,将整体逆运动学问题分解为求解辅助坐标系旋转矩阵子问题和求解辅助坐标系内位置矢量子问题,给出两节双八面体VGT的逆运动学解析算法.通过分析两节VGT逆运动学的解析解,给出可以将多节臂等效为一节臂的简化运动学构型,将N节VGT臂等效为两节双八面体VGT臂.利用两节双八面体VGT臂的逆运动学算法和简化构型,可得N节臂逆运动学解.仿真验证表明,逆运动学解析算法的计算速度和精度优于雅可比矩阵法.在实际双八面体VGT机构上的测试验证了逆运动学算法的有效性.
[Abstract]:In order to solve the inverse kinematics problem quickly and accurately, an inverse kinematics analytical algorithm is proposed for the multi-section bioctahedron variable geometry truss arm (VGTT). Based on the VGT symmetric structure and the image transform matrix of a biocahedron, a rotation matrix independent of Euler angle and Denavit-Hartenberg D-H parameters is introduced. By establishing two auxiliary coordinate systems, the global inverse kinematics problem is decomposed into the subproblem of the rotation matrix in the auxiliary coordinate system and the position vector subproblem in the auxiliary coordinate system. The inverse kinematics analytical algorithm for two sections of VGT is presented. By analyzing the analytical solution of two-section VGT inverse kinematics, the simplified kinematics configuration of multi-segment arm can be equivalent to that of one segmental arm, and the N-segment VGT arm is equivalent to two-section double-octahedral VGT arm. By using the inverse kinematics algorithm and the simplified configuration of a biocahedron VGT arm, the inverse kinematic solution of the N-segment arm can be obtained. Simulation results show that the computation speed and accuracy of the inverse kinematics analytic algorithm are better than that of Jacobian matrix method. The effectiveness of the inverse kinematics algorithm is verified by the test on the actual bioctahedron VGT mechanism.
【作者单位】：上海交通大学航空航天学院;
【基金】：国家“863”高技术研究发展计划资助项目(2015AAXXX6605)
【分类号】：TP241

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