基于切断点自由度解耦的手腕偏置型6R机器人位置反解  

Inverse Displacement Analysis of 6R Robots with Offset Wrists Based on Decoupling Degrees of Freedom at the Cutoff Points

作　　者：卜王辉[1] 刘振宇[1] 谭建荣[1] 

机构地区：[1]浙江大学CAD&CG国家重点实验室,杭州310027

出　　处：《机械工程学报》2010年第21期1-5,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50875239;60736019);国家重点基础研究发展计划(973计划;2011CB7065032007CB714007);教育部博士点基金(20090101110040);国家博士后科学基金(20100471717)资助项目

摘　　要：手腕偏置型6R机器人的位置反解没有封闭解。将机器人的偏置型手腕分为侧端偏置、上端偏置和前端偏置。针对手腕前端偏置型6R机器人位置反解问题,利用机器人几何结构特征,将机构运动链在关节坐标系原点或相邻坐标系轴线交点处切断为两部分,使两条子运动链在切断点处运动自由度的某个分量上的耦合度最小,从而便于导出关节变量之间的关系。将含6个未知数的高维方程组转化为仅含1个未知数的非线性方程,通过一维迭代搜索获得机器人位置反解的数值解。There are no closed-form inverse displacement solutions for 6R robots with offset wrists. These robotic offset wrists are classified as side offset,top offset,and front offset. To solve the problem of inverse displacement analysis of 6R robots with front offset wrists,according to the geometric character of robotic mechanisms,the robotic kinematic chain is cut into two branches at the origin of the joint coordinate or at the intersection point of the axes of the adjacent coordinates. In this way,one component of degrees of freedom for the two branches becomes decoupled at the cutoff point,so the relationships among the joint variables can be easily deduced. The transcendental equations containing 6 variables are turned into a nonlinear equation containing 1 variable,and the numerical solution for the inverse displacement analysis is obtained by using one dimensional iterative search.

关 键 词：机械臂 偏置手腕 位置反解 

分 类 号：TH112[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]