多节臂举升机器人重心推算的研究  

Study on the Recursive Algorithms of Mass Center for the Multi-joint Arm Boom Lift Robot

作　　者：赵强[1] 吴洪涛[1] 朱剑英[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机器人》2006年第1期50-53,58,共5页Robot

基　　金：国家自然科学基金资助项目(50375071);江苏省自然科学基金资助项目(BK2003091)

摘　　要：把Denavit和Hatenberg方法引入多节臂举升机器人质心推算的研究,以确定多节臂举升机器人各主要部件随重物的移动、其质心位置相对于基础坐标系的变化函数关系,从而确定多节臂举升机器人整体质心位置的变化函数.通过整体质心位置的变化函数,可以做出整个系统质心在水平面的变化范围图形,同时该变化函数也是举升机器人控制的反馈传递函数,最终在稳定允许的安全裕度下,确定多节臂举升机器人的安全工作空间.The Denavit-Hatenberg method is introduced into the recursive algorithms of a muhi-joint arm boom lift robot mass center to determine the mass-center function of all the main units in the multi-joint ann boom lift ribot relativte to the original coordinate frame when the main units move along with the movement of the lifted load, so as to determine the masscenter function of the whole robot. The curves of the mass-center moving range of the robot in horizontal plane can be plotted by using the mass-center functions. And it also is the feedback propagation function for controlling the multi-joint arm boom lift robot. Finally, the workspace of the multi-joint ann boom lift robot can be accurately determined according to the allowed safe margin for stability.

关 键 词：齐次坐标变换 安全裕度 起重载荷 质心 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]