钢丝绳传动机器人运动学的支路分析方法

发布时间：2018-11-01 21:14

【摘要】：通过研究分析一类N+1条钢丝绳驱动N个自由度机器人的运动学,其运动学可通过推导移去钢丝绳后开环链机器人关节空间与笛卡尔空间之间的运动学关系和关节空间与驱动空间之间的运动学关系来完成。在基本回路、共轴条件和传动线运动学分析的基础上,提出了用支路矩阵和等效半径矩阵描述钢丝绳传动机器人运动学的支路分析方法。根据钢丝绳传动原理,通过观察法可直接列写支路矩阵和驱动空间等效半径矩阵,从而得到了驱动空间与关节空间之间的运动学映射关系,解耦了由于钢丝绳传动导致机器人关节间的运动耦合。结合传统机器人运动学,实现了驱动空间、关节空间和笛卡尔空间完整运动学映射关系,加快和简化了钢丝绳传动机器人运动学建模和分析过程。以Stanford/JPL手指为例进行了运动学分析和仿真,验证了用支路矩阵和等效半径矩阵描述钢丝绳传动机器人运动学支路分析方法的正确性,为钢丝绳传动机构的设计、运动学分析与控制奠定了基础。
[Abstract]:The kinematics of a class of N DOF robot driven by N wire rope is studied. The kinematics can be accomplished by deducing the kinematics relationship between the joint space and Descartes space and the kinematics relationship between the joint space and the drive space. Based on the analysis of basic loop, coaxial condition and kinematics of transmission line, a branch analysis method for describing the kinematics of wire rope transmission robot by using branch matrix and equivalent radius matrix is proposed. According to the principle of wire rope transmission, the write branch matrix and the equivalent radius matrix of driving space can be directly listed by observing method, and the kinematics mapping relationship between drive space and joint space is obtained. Decoupling the kinematic coupling between the joints of the robot due to wire rope transmission. Combined with the traditional robot kinematics, the complete kinematics mapping relationship among driving space, joint space and Descartes space is realized, and the kinematics modeling and analysis process of wire rope transmission robot is accelerated and simplified. The kinematics analysis and simulation of Stanford/JPL finger is carried out, which verifies the correctness of describing the kinematics branch analysis method of wire rope transmission robot with branch matrix and equivalent radius matrix, which is the design of wire rope transmission mechanism. Kinematics analysis and control lay the foundation.
【作者单位】：天津工业大学机械工程学院;天津市现代机电装备技术重点实验室;
【基金】：国家自然科学基金青年基金资助项目(No.51205287)
【分类号】：TP242

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