基于旋量理论的RRRP机器人正运动学分析研究  

The Kinematics Analysis of a RRRP Robot Based on the Screw Theory

作　　者：李悦 周利坤[2] 

机构地区：[1]武警工程大学军事基础教育学院,西安710086 [2]武警后勤学院军交运输系,天津300000

出　　处：《机械科学与技术》2014年第2期194-198,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：陕西省重点学科建设专项资金项目(102-00x903)资助

摘　　要：对机器人正运动学的分析研究是实现控制和轨迹规划的基础。介绍了旋量理论,基于李群李代数和旋量理论建立了RRRP机器人的运动学模型;根据指数积公式进行了机器人运动学正解分析并建立了运动学方程,对比D-H参数法具有更为明确的几何意义和简洁性;利用ADAMS软件进行了运动学仿真,直观的显示了机器人的运动规律,且运动学正解方程得到的结果与仿真数据之间的误差不超过0.05。结果表明:由旋量理论和指数积公式建立的机器人运动学方程的正确性,以及旋量理论应用于类似刚体系统运动学分析的可行性。Abstract： The research on robot kinematics is the basis of controlling and path planning. Firstly, the screw theory was introduced and the kinematical model of the RRRP robot was built based on Lie group knowledge and screw theory. Then, kinematical positive analysis and relative equations were obtained based on the Product of Exponen tials （POE）. Compared with the traditional DH method, the present method is simpler and has concrete geometry meaning. Lastly, kinematical simulation was done in ADAMS, and it could clearly show the kinematical laws of the robot. The error value between kinematical equation resolution and simulation data did not beyond 0.05. The result tested the validity of kinematical equations based on the screw theory and POE. It was feasibility for the screw theo ry to apply to the kinematical analysis of similar multirigidbody systems.

关 键 词：机器人 旋量理论 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]