关节半解耦6自由度服务机器人的设计与运动学研究  

Design and kinematics research of a joint semi decoupling six degrees of freedom service robot

作　　者：左骏秋[1] 张磊[1] 喜冠南[1,2] 帅立国[3] 施伟杰[1] 

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]上海交通大学机械与动力工程学院,上海200240 [3]东南大学机械工程学院,江苏南京211189

出　　处：《机械设计》2017年第6期88-94,共7页Journal of Machine Design

基　　金：江苏省自然科学基金资助项目(BK20131205);国家自然科学基金资助项目(61175069);2012江苏省“青蓝工程”优秀青年骨干教师培养对象资助项目;2015江苏省六大人才高峰资助项目(ZBZZ-023)

摘　　要：针对目前国内外服务机器人机械臂鲜有解耦关节的现状,设计了一款关节部分解耦的6自由度服务机器人机械臂样机。根据自由度部分解耦的特点,提出了一种在机械臂末端关节d_6≠0的情况下推导运动学逆解的新算法,该算法在运动学逆解的推导过程中避免了大量逆矩阵的计算问题。通过运动学正逆解的求解验证及仿真试验,验证了文中逆运动学算法是正确有效的。文中设计的服务机器人在结构上吸收了SCARA机器人的优点且具有满自由度,提出的运动学算法对其他机器人实际应用中应对d_6≠0时的逆运动学求解具有积极的研究参考价值。The present service robot manipulator has few decoupling joints at home and abroad,a joint partial decoupling of six degrees of freedom service robot manipulator prototype is introduced.With partial decoupling and under the situation that d_6≠0 of this service robot,a new algorithm of deriving the service robot kinematics reverse solution is proposed.The problem of inverse matrix multiplication is avoided in the derivation process of the inverse kinematic solution.Through inverse kinematics and simulation,the correctness and effectiveness of the inverse kinematics algorithm is verified.The service robot designed in the paper not only absorbs the advantages of SCARA robot on the structure,but also has full freedom.The proposed kinematics algorithm has valuable research significance for solution of the inverse kinematics of other robots in the case of d_6≠0 that occurs frequently in many practical applications.

关 键 词：服务机器人 半解耦 运动学 解析解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]