机器人末端运动特征几何化描述与分析方法  

Geometric Description and Analysis Method for Motion Characteristics of Robot End-effector

作　　者：叶梅燕 石志新[1] 罗玉峰[1,3] YE Meiyan;SHI Zhixin;LUO Yufeng(School of Mechanical and Electronic Engineering,Nanchang University,Nanchang 330031,China;School of Science,Nanchang University,Nanchang 330031,China;School of Mechatrontics and Vehicle Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]南昌大学理学院,南昌330031 [3]华东交通大学机电与车辆工程学院,南昌330013

出　　处：《农业机械学报》2019年第3期388-395,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51365036)

摘　　要：针对现有运动特征信息不完整以及代数分析方法较为抽象的现状,提出了基于高斯几何学的机器人末端运动特征几何化描述与分析方法。首先,基于高斯几何学将直线、曲线、平面以及曲面等均视作可描述末端运动特征的独立空间,进而建立了基于高斯几何学的运动特征描述模型;然后,基于该描述模型制定了末端运动特征的求并和求交运算规则,并提出了机器人末端运动特征的分析方法;最后,结合实例验证了上述几何化描述与分析方法的有效性。Topological structure is the most original part of mechanical system design.The premise of structure synthesis depends on complete description and accurate analysis of the motion characteristics.And the motion characteristic is not only the design objective of type synthesis,but also the judgment whether the obtained mechanism meets the requirements.The existing indexes of motion characteristics only contain three kinds of information:motion type(translation and rotation),motion direction and the dimension of motion space,but they lack the overall geometric shape of motion space,which will lead to insufficient information of motion characteristics and incomplete type expressions.To solve this problem,a geometric description and analysis method for the motion characteristics of robot end-effector was proposed based on Gaussian geometry.Firstly,a geometric description model of motion characteristics was established,which included overall geometric shape of motion space.Secondly,the relevant operation rules of motion characteristics were formulated,which made the intersection of all limbs’motion characteristics for parallel mechanism relatively straightforward and simple.And a geometric analysis method for the motion characteristics of robot end-effector was presented.Finally,the validity of the geometric description and analysis method was verified by some concrete examples.Compared with the algebraic method,the geometric analysis method for the motion characteristics of the robot endeffector was much simpler and more intuitive,which had obvious advantages especially for mechanisms with bending motion characteristics.

关 键 词：机器人 运动特征 几何化方法 

分 类 号：TH112[机械工程—机械设计及理论]