线驱动绿篱修剪机械臂运动学分析及仿真  

Kinematics Analysis and Simulation of Line-driven Hedge Trimming Manipulator

作　　者：薛赞 罗天洪 陈才 Xue Zan;Luo Tianhong;Chen Cai(School of Mechanotronics&Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China;School of Robotics Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China;Chongqing Intelligent Robot Research Institute,Chongqing 400714,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074 [2]重庆文理学院机器人工程学院,重庆402160 [3]重庆智能机器人研究院,重庆400714

出　　处：《机械传动》2019年第10期128-135,共8页Journal of Mechanical Transmission

基　　金：重庆市研究生教育创新基金(CYS18223);重庆市研究生教育创新基金(2018S0140)

摘　　要：针对当前绿篱机械臂无法在复杂环境和非结构环境下作业的问题,提出一种具有更强环境适应性、更高自由度和更大工作空间的冗余线驱动绿篱修剪机械臂。利用坐标分析法建立了单关节的运动学模型,求解了绳长与关节转角的映射关系;基于D-H参数法分析了10-DOF机械臂的正向运动学数学模型,采用遗传算法研究冗余机械臂的逆向运动学,求解了冗余机械臂的运动学逆解。仿真结果证明,遗传算法的求解精度高且求解迅速;对机械臂各关节绳索间的耦合进行了分析并推导了解耦公式。通过仿真验证了机械臂正逆运动学模型的正确性以及解耦模型的正确性,为绳驱动冗余机械臂的控制和轨迹规划奠定了基础。Aiming at the problem that hedge manipulators can’t work in complex and unstructured envi ronments,a redundant line-driven hedge trimming manipulator with stronger environmental adaptability,higher degree of freedom and larger workspace is proposed.The kinematics model of single joint is established by coor dinate analysis method,and the mapping relationship between rope length and joint rotation angle is solved.The forward kinematics mathematical model of 10-DOF manipulator is analyzed based on D-H parameter method.The inverse kinematics of redundant manipulator is studied by genetic algorithm,and the inverse kinematics of redundant manipulator is solved.The simulation results show that the genetic algorithm has high accuracy and fast solution.The coupling between the joints and ropes of the manipulator is analyzed and the decoupling formu la is deduced.The correctness of forward and inverse kinematics model and decoupling model of the manipula tor are verified by simulation,which lays a foundation for the control and trajectory planning of the rope-driven redundant manipulator.

关 键 词：线驱动 冗余机械臂 遗传算法 解耦 运动学 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]