基于广义雅可比矩阵的空间并联机器人运动学研究  

Kinematics analysis of space parallel robot based on generalized Jacobian matrix

作　　者：李富娟[1] 李仕华[1] 王凯[1] 韩雪艳[1] Li Fujuan;Li Shihua;WANG Kai;HAN Xueyan(Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004

出　　处：《燕山大学学报》2018年第4期296-302,共7页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(51775475);河北省自然科学基金重点项目(E2016203463)

摘　　要：针对自由漂浮空间并联机器人运动输出部分与载体之间存在运动耦合的问题,提出一种自由漂浮空间并联机器人广义雅可比矩阵的构造方法。基于螺旋理论建立速度映射关系,得到各分支输入速度与上、下平台的运动速度关系,结合动量守恒定律得到出上、下平台的速度运动关系,推导出自由漂浮空间并联机器人的广义雅可比矩阵,以6-SPS并联机构为例,进行数值计算和仿真分析对比,验证广义雅可比矩阵构造方法的正确性,也为自由漂浮空间并联机器人的精确控制奠定了基础。A method for developing the generalized Jacobian matrix is put forward in the light of the kinematic coupling problem between output and supporter of the free-floating space parallel robot.The velocity mapped relationship is discovered,and the relationship between the input velocity of every limb and the upper platform and the lower platform is obtained based on the screw theory.Combined with the principle of energy conservation,the generalized Jacobian matrix of the free-floating space parallel robot is derived.The comparison analysis of numerical calculation and simulation of 6-SPS parallel mechanism is conducted in order to verify the validity of the method.The results of research provide a foundation for accurate control of the free-floating space parallel robot.

关 键 词：自由漂浮 广义雅可比矩阵 非惯性系 空间并联机器人 

分 类 号：TH113[机械工程—机械设计及理论]