基于虚拟复合关节等效变换的机构运动能力特性分析  

Analysis on Moving Capability Characteristics of Mechanism Based on Equivalent Transformation of Virtual Compound Joint

作　　者：罗建国[1] 卜泽昊 韩建友[3] 

机构地区：[1]华北科技学院,北京101601 [2]华北科技学院研究生院,北京101601 [3]北京科技大学机械工程学院,北京100083

出　　处：《煤矿机械》2017年第4期44-48,共5页Coal Mine Machinery

基　　金：中央高校基本科研业务费资助项目(3142015023);国家自然科学基金资助项目(51275034);河北省重点研发计划资助项目(15275508)

摘　　要：引入虚拟复合关节理论及其特性参数分析方法,运动链输出末端的运动能力特性可以通过计算分析虚拟复合关节的瞬时/全周当量转角域、瞬时/全周当量平移域得到。将运动链按关节组成分为3种情形进行分析,把复合关节当量转角域和当量平移域求解出来。以6自由度串联机器人为例,利用MATLAB计算分析得到给定条件下相应的量化结果,借助平面六维拓扑表示图可以实现对该机器人输出末端全周当量转角域、全周当量平移域等运动能力特性参数的简洁直观、具体清晰的区间表示,进而获得其自由度、工作空间、奇异特性。The theory of virtual compound joint and analysis method based on its characteristic parameters are introduced, the moving capability characteristics of output terminal in kinematic chain can be obtained through the calculation and analysis of virtual compound joint＇s instantaneous or global equivalent rotation angle domain and instantaneous or global equivalent translation domain. The equivalent rotation angle domain and equivalent translation domain of compound joint are obtained respectively from three different cases, which are divided according to joints of kinematic chain. Example research on a series robot with six degrees of freedom is carried, the corresponding quantified results under given conditions are obtained by using MATLAB. With the help of planar six-dimensional topological graph, the results of series robot＇s moving capability characteristics such as global equivalent rotation angle domain and global equivalent translation domain are presented by intuitive description and specific quantification method, the degree of freedom, working space, singularity are obtained at the same time.

关 键 词：虚拟复合关节 等效变换 当量转角域 当量平移域 拓扑图 

分 类 号：TP387[自动化与计算机技术—计算机系统结构]