基于旋量理论的四自由度抓取机械手奇异位形分析  

Analysis on the singular configuration of 4-DOF holding manipulator based on the Screw Theory

作　　者：刘青松[1] 袁杰[1] 钱建华[1] 

机构地区：[1]中科华核电技术研究院有限公司,广东深圳518124

出　　处：《河北工业大学学报》2016年第1期31-35,共5页Journal of Hebei University of Technology

基　　金：国家863计划(2011AA040201)

摘　　要：机构奇异位形是影响机构运动学性能的重要因素之一,机械手的奇异位形可导致机构锁死、控制复杂化、危害人员安全等问题.本文针对四自由度抓取机械手采用旋量理论对该机械手进行了运动学分析,并推导出了机械手奇异位形,采用随机取点法验证了旋量方法的可行性.在此基础上,利用MATLAB Robotics对奇异位形进行了仿真分析.仿真结果表明,应用旋量理论求解的奇异位形数据准确,可有效剔除机械手奇异位形,确保机械手高速准确完成抓取任务.The singular configuration is one of the most significant factors that influences the kinematics performances of mechanism. It may cause problems like mechanism lockup, control complicated, and the safety of staff endangered, etc. This article analyzes 4-DOF holding manipulator in kinematics referring to the Screw Theory and derives the singular configuration of the manipulator as well as the feasibility of screw theory tested with the random pick-up-point method. Based on this, it does a further simulation analysis about the singular configuration using Matlab Robotics. The result of the simulation analysis shows that the data drawn from Applicable Screw Theory is reliable and the data can effectively eliminate singular configuration phenomenon to make sure the mechanism manipulator can complete capturing task quick- ly and accurately.

关 键 词：奇异位形 机械手 旋量理论 随机取点法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]