串联机器人运动学分析及轨迹规划  

Kinematic analysis and trajectory planning of serial robot

作　　者：陈卓 苏卫华 李彬[1] 秦晓丽 CHEN Zhuo;SU Wei-hua;LI Bin;QIN Xiao-li(School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China;Institute of Medical Support Technology,Academy of System Engineering,Academy of Military Science of Chinese People's Liberation Army,Tianjin 300161,China)

机构地区：[1]天津理工大学机械工程学院,天津300384 [2]军事科学院系统工程研究院卫勤保障技术研究所,天津300161

出　　处：《医疗卫生装备》2018年第1期5-10,共6页Chinese Medical Equipment Journal

基　　金：国家科技重大专项(2017ZX10304403)

摘　　要：目的:针对串联机器人在危险生化品处理方面的应用,选取一种安全系数高、灵活轻量的机械臂并对其进行运动学建模和轨迹规划。方法:先对机械臂进行运动学建模,之后推导并验证正运动学和逆运动学公式,然后利用微分变换法求取机械臂的雅可比矩阵,最后对机械臂在关节空间和直角坐标空间进行轨迹规划。结果:通过对串联机器人的轨迹规划,可使其形成光滑连续的理想运动曲线,使串联机器人在空间上的运动更加平稳高效。结论:该研究有助于使串联机器人更好地应用于危险生化品处理的场景,也可以为串联机器人的其他相关研究提供参考。Objective To select a safe,flexible and lightweight manipulator and to execute its kinematic analysis and trajectory planning,so as to improve the application of serial robot in the treatment of hazardous biochemical products.Methods The kinematic modeling was carried out for the manipulator,and the kinematic and inverse kinematic formulas were deduced and verified.Differential transform method was used to obtain the Jacobian matrix of the manipulator,and the trajectory planning was implemented for the manipulator at joint and cartesian spaces.Results An ideal motion curve was formed by the trajectory planning of serial robot to realize its stable and high-efficiency motion at spaces.Conclusion Serial robot is facilitated to execute the treatment of hazardous biochemical products,and references are provided to other researches on serial robot.

关 键 词：串联机器人 运动学分析 雅可比矩阵 轨迹规划 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]