七自由度打磨机器人操作臂运动学分析  

Kinematics Analysis of Polishing Robot Manipulator with Seven Degrees of Freedom

作　　者：刘哲 李铁军[1] 

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001

出　　处：《自动化技术与应用》2016年第4期60-64,共5页Techniques of Automation and Applications

摘　　要：以七自由度打磨机器人操作臂为研究对象,对该操作臂进行了正运动学和逆运动学分析。首先,根据操作臂的结构特点,利用D-H参数法建立了操作臂的数学模型,进行了正运动学分析。针对冗余自由度机器人逆运动学求解困难,难以求得封闭解的问题,利用操作臂的特殊结构,采用关节变量虚化法,将七自由度操作臂转化为典型的六自由度操作臂,然后,利用解析法求出全部逆解。得出的结果可以作为操作臂仿真分析和控制系统设计的参考。A polishing robot manipulator with seven degrees of freedom is stutied in this paper. Forward kinematics and inverse kinematics of the manipulator are analyzed. Firstly, the mathematical model of the manipulator is established according to the structure characteristics of the manipulator by using the D-H parameter method and the forward kinematics is analyzed. It is difficult to solve the inverse kinematics of redundant robot and obtain the closed solution. The manipulator with seven degrees of freedom is transformed into a typical manipulator with six degrees of freedom by using the special structure of manipulator through the virtual method of joint variable. Then, all the inverse solution can be solved by using the analytical method. The results can be used as the reference of the analysis of manipulator simulation and the design of control system.

关 键 词：七自由度 操作臂 运动学分析 虚化法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]