基于旋量理论的冗余机械臂运动学奇异性求解和仿真分析  

Kinematics Singularity Solution and Simulation Analysis of Redundant Manipulator based on Screw Theory

作　　者：冯新红 Feng Xinhong(School of Intelligent Manufacturing Engineering,Jiangxi University of Engineering,Xinyu 338029,China)

机构地区：[1]江西工程学院智能制造工程学院,江西新余338029

出　　处：《机械传动》2020年第9期122-127,共6页Journal of Mechanical Transmission

基　　金：江西省教育厅资助项目(GJJ161294)。

摘　　要：针对7轴协作型库卡机械臂,对其工作空间内机械臂的奇异构型进行求解和仿真分析。首先,建立机械臂的运动学模型,得到其DH参数;然后,基于螺旋理论求解机械臂的雅可比矩阵,利用螺旋互反方法求解机械臂的奇异构型;最后,基于可操作度指标和最小奇异值指标,利用机器人工具箱对机械臂末端参考点的灵巧性进行分析。结果表明,7轴协作型库卡机械臂在其工作空间内存在4种奇异条件。仿真结果进一步验证了分析的正确性,为后续的机械臂奇异性避免算法研究奠定了基础。The solution and simulation analysis of the singularity configurations within its workspace of the seven axis cooperative KUKA manipulator is presented.Firstly,the manipulator kinematics model is constructed and the DH parameter is obtained.Secondly,the Jacobian matrix is computed based on screw theory and the screw reciprocity method is used to find the singularity configurations.Finally,the dexterity of end reference point of robot is analyzed based on manipulability index and the minimum singular value index by means of the Robotics Toolbox.The analysis results reveals that there are four singular conditions of the seven axis cooperative KUKA robot within its workspace,and the simulation results verifies the correctness of the analysis,and it lays a foundation for subsequent manipulator singularity avoidance arithmetic research.

关 键 词：模块化机械臂 雅可比矩阵 旋量理论 奇异性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]