油罐清洗机器人雅可比矩阵求解及奇异位形分析  

Solution of Jacobian Matrix and Analysis on Singularity Configuration of an Oil Tank Cleaning Robot

作　　者：李悦 周利坤 

机构地区：[1]武警工程大学军交运输系,陕西西安710086

出　　处：《机械设计与制造》2013年第12期185-187,191,共4页Machinery Design & Manufacture

基　　金：陕西省重点学科建设专项资金资助项目(102-00x903)

摘　　要：油罐清洗机器人作为一种复杂的串联机器人,其轮式移动机构和水射流机械臂装置形成移动机械手,具有多个运动副,是机器人运动分析和控制的基础。旋量理论能大大简化机构运动的计算模型,并具有明确的几何意义。根据机器人的结构特点,建立简化的移动机械手模型和旋量位形,应用旋量理论和指数积公式建立其速度雅可比矩阵,得到关节速度和末端工具速度的映射关系。根据雅可比矩阵是否满秩判断机器人的奇异位形,给出了机器人边界奇异和内部奇异的判定条件,分析了奇异位形下机器人的运动性质,为机器人进一步设计和控制提供了理论依据。Oil tank cleaning robot is a complex series connectional robot, whose wheel migration mechanism and jet flow device forms a mobile mechanical arm. It has several joints that are key points to robotics planning and controlling. Screw theory could be used to simplify the kinematic computation model and has concrete geometry meaning. Based on the mechanical characteristic of robot, mobile mechanical arm mathematical model and screw coordinates were built. Putting the screw theory and product of rxponentials into use to build the velocity Jacobian matrix could get the mapping relation of joint velocity and manipulator velocity. The velocity Jacobian matrix is zero or not could decide the singularity configuration. The judging conditions of extreme position or internal singularity configuration, and analysis on kinematic property of robot on the singularity configuration offer a theory basis for deeper designing and controlling.

关 键 词：清洗机器人 雅可比矩阵 奇异位形 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]