神光-Ⅲ精密光学模块侧装机械手运动学分析  

Kinematic Analysis of a Side Loading Robot for SG-Ⅲ Precision Optical Modules

作　　者：宋代平[1] 袁岳军 郭宗环 王康[1] SONG Daiping1,YUAN Yuejun1,GUO Zonghuan2,WANG Kang1(1.State Key Laboratory of Mechanical Transmission ,Chongqing University,,Chongqing,400044;2.Dong Feng Xiao Kang Motor Co.,Ltd.,Chognqing,40532)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]重庆东风小康汽车有限公司,重庆405321

出　　处：《中国机械工程》2018年第12期1387-1392,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(U1530138)

摘　　要：为顺利将激光聚变试验所需的光学模块安装至主机试验装置中,设计了一种八自由度侧装机器人。通过D-H法建立机器人各杆件的参考坐标系并获得D-H参数,推导出该侧装机器人运动学正解。提出采用关节变量虚化法构建出一个虚拟六自由度机器人,并利用解析法求解虚拟六自由度机器人运动学逆解。基于关节占用空间最小的原则,结合麦夸特算法利用1st Opt软件对关节3和关节4的位置进行求解,进而求解八自由度侧装机器人运动学逆解,并通过实例验证逆解算法的正确性。对运动学分析求解可以用于机械臂末端执行器的精确定位和运动规划,为实现八自由度侧装机器人的轨迹规划及实时控制等提供理论参考。In order to transport the module required for laser fusion test to the inside of main test device,a 8-DOF side loading robot was designed.Coordinate systems of joints were set up and D-H parameters were obtained by using D-H methods.Then the forward kinematic solution was derived.A virtual 6-DOF robot was constructed by using bleaching joint variable method.The inverse kinematic equations of virtual 6-DOF robot was established based on analytical method. Based on the principles of minimum space of joint and Levenberg Marquarde algorithm,the positions of joint 3 and joint 4 were solved by using the 1 st Opt software.Then the inverse kinematic equation of 8-DOF side loading robot was derived.The correctness of the algorithm for inverse kinematics of side loading robot was verified by an example.The kinematic analysis may be used for precise positioning and motion planning of manipulator end effectors,which provides a theoretical reference for the realization of trajectory planning and real-time control of 8-DOF robots.

关 键 词：激光聚变试验 侧装机器人 运动学 D-H法 关节变量虚化法 

分 类 号：TH242.3[机械工程—机械制造及自动化]