基于平行机构的简便机器人运动学逆解算法  

A simple arithmetic for Robot's inverse kinematic problems based on parallel mechanism

作　　者：汪成龙[1] 赵春翔[2] 金京[1] 李国[1] 

机构地区：[1]西安工程科技学院机电工程学院,陕西西安710048 [2]武警学院数学教研室,陕西西安710036

出　　处：《纺织高校基础科学学报》2005年第2期178-181,共4页Basic Sciences Journal of Textile Universities

摘　　要：在机器人结构中,通过引入平行四边形机构,充分发挥其连杆的平移特性,可简化合并2平行回转轴关节的运动变换矩阵;当与另一正交回转关节组成基本运动单元时,能综合表示为一个等效变换矩阵.仅须2单元串联就能构造6回转关节机器人,且所推导的关节控制角公式简单,便于并行运算.经模拟试验表明:其逆解时间可缩减50%,运算精度提高80%.In a robot structure, the motion transforming matrix can be simplified or combined if the axes of two revolving joints are in the same direction by introducing parallel mechanism. After connected to another perpendicular joint, an essential motion unit is formed and an equivalent transforming matrix is achieved. For two units in a series connection will construct a robot with six revolving joints, and simple formulas produced or direct angle computation of control joints is easy to be parallel applied. Simulating tests show that time of its inverse kinematics can be shortened by 50 percent and its computing precision can be improved by 80 percent.

关 键 词：机器人 基准坐标 关节 运动学逆解问题 变换矩阵 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]