7自由度串联机器人运动学分析  

Kinematics Analysis of a 7-DOF Tandem Robot

作　　者：王贵程 吴国新[1] 左云波[1] 江波 WANG Gui-cheng;WU Guo-xin;ZUO Yun-bo;JIANG Bo(Key Laboratory of Modern Measurement and Control Technology,Beijing Information Science and Technology University , Beijing 100192,China)

机构地区：[1]北京信息科技大学现代测控技术教育部重点实验室,北京100192

出　　处：《组合机床与自动化加工技术》2020年第5期17-20,26,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：北京市自然科学基金京津冀基础研究合作专项(J170004);京津冀科技成果转化项目(17YFCZZC00270)。

摘　　要：为了保证机器人运动角度精确,以此研究7自由度串联机器人的运动学特性,对其进行正向运动学和逆向运动学的分析。首先,通过旋量理论方法建立该7自由度串联机器人的正向运动学方程。其次,在应用旋量理论得到正向运动学方程的基础上,通过将几何法和位姿分离法两种方法结合用来求解机器人的逆解。最后,将结果在Adams/MATLAB联合仿真进行验证,求解逆解方法的正确性,经过仿真得到运动学角度函数变化曲线以及关节角度变化值,与理论所得到的角度值进行比较分析,结果验证了该方法的有效性和正确性,表明该方法具有精度高、运算量小的特点。In order to ensure the accuracy of the robot's motion angle,the kinematics of the 7-DOF tandem robot is studied,and the forward kinematics and inverse kinematics are analysed.Firstly,the forward kinematics equation of the 7-DOF tandem robot is established by the spin theory method.Secondly,based on the forward kinematics equation,the geometric method and the pose separation method are combined to solve the inverse solution of the robot.Finally,the results are verified by Adams/MATLAB co-simulation to verify the correctness of the inverse solution method.After simulation,the kinematic angle function curve and the change value of the joint angle change curve are obtained.The result verifies the validity and correctness of the proposed method,and shows that the method has the characteristics of high precision and small calculation.

关 键 词：机器人 运动学 几何法 仿真分析 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]