三角钻臂的运动控制研究  

Motion Control of Triangle Boom

作　　者：王恒升[1] 何清华[1] 邓春萍[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410075

出　　处：《同济大学学报（自然科学版）》2006年第5期660-664,共5页Journal of Tongji University:Natural Science

基　　金：湖南省自然科学基金资助项目(05JJ30206);国家"八六三"高技术研究发展计划资助项目(2002AA001019)

摘　　要：建立了三角臂的杆件坐标系,利用多关节闭链的约束条件建立了运动学方程,得到了由给定钻臂位置计算油缸长度的精确算式.增加油缸俯仰角的测量点后,得到缸长的简化算式,减小了油缸长度的在线计算量,应用该式可提高三角钻臂轨迹控制的精确度.Efforts have been made to establish link coordinates of triangular arrangement of boom including two lift cylinders, and then the kinematics equations on the basis of restriction of multi-closedchain. The formula is derived from the kinematics equations to calculate the length of supporting cylinder from the given position of the boom. With extra measurement points of pitch angle of supporting cylinders, the formula is simplified, which will reduce the amount of mathematical operations in realtime control and improve the precision for trajectory control of triangle boom. A case calculation is given in the end.

关 键 词：三角钻臂 机器人 运动学 运动控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]