基于指数积公式的挖掘机运动学分析  

The Analysis of Excavator Kinematics Based on the Exponential Product Formula

作　　者：张志文 张大庆[2] 施圣贤[2] 陈勇[2] 

机构地区：[1]甘肃省路桥第一公路工程有限公司,甘肃兰州730050 [2]中南大学机电工程学院,湖南长沙410083

出　　处：《现代机械》2005年第3期20-22,共3页Modern Machinery

摘　　要：　本文运用了基于旋量理论的指数积方法,推导出挖掘机回转装置、动臂、斗杆、铲斗多杆件组成的串联开链机构的运动学方程,求解雅可比矩阵,并验证该方法的有效性。研究表明,利用指数积与平面几何相结合的方法求挖掘机运动学逆解,无需进行矩阵乘法运算,减少了运算量,更适合进行计算机编程运算;而且利用指数积方法计算挖掘机雅可比矩阵无需对运动学正解映射求微分,并能有效的避免因参数引起的奇异性。In the paper, the exponential product formula based on screw theory is used, by which the kinematics formula and Jaco-bian matrix of serial open-chain manipulators made up of excavator' s swing, boom, arm and bucket are developed, and the validity of the method is confirmed. The research indicates that there is no calculus of matrix multiplication, and less operation quantity during the analysis of inverse kinematics problem by method of exponential integrated with plane geometry; and there is no calculus of differential on forward kinematics mapping and no singularity to calculate jacobian matrix by exponential.

关 键 词：挖掘机 运动学分析 指数积公式 雅可比矩阵 运动学方程 运动学逆解 计算机编程 旋量理论 回转装置 开链机构 乘法运算 几何相 运算量 解映射 奇异性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU621[自动化与计算机技术—控制科学与工程]