大型喷浆机器人的雅可比矩阵求解  

Study on Jacobian Matrices of the Large Scale Shotcrete-robot

作　　者：闫成新[1] 

机构地区：[1]中国石油大学(华东)机电工程学院,山东东营257061

出　　处：《组合机床与自动化加工技术》2010年第7期5-7,11,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家863计划资助项目(8635121602)

摘　　要：机器人雅可比矩阵的求解对于机器人的分离速度控制、静力学分析、灵巧度分析等极为重要。大型喷浆机器人结构上不存在闭链问题,但关节数较多。对现有雅可比矩阵求解方法进行了对比研究,针对大型喷浆机器人的具体特点,使用微分-矢量法求解出了大型喷浆机器人的雅可比矩阵,为喷浆机器人的进一步设计提供了可靠的理论依据。Jacobian matrices are extremely important for the separation speed control, static power analysis, and dexterity analysis of robot. Large scale shotcrete-robot has no closed chain problem but with many joints. On comparing the algorithms for computing Jacobian matrices and according to the structure of the robot, Ja- cobian matrices of the large scale shotcrete-robot are solved by Differential-Vector method in this paper, which will serve as reliable theory foundations for further design of the large scale shotcrete-robot.

关 键 词：大型喷浆机器人 雅可比矩阵 微分-矢量法 

分 类 号：TG65[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]