四索驱动摄像机器人改进正向运动学算法研究  

Study on improved forward kinematics algorithms for four-cable-driven camera robot

作　　者：周承敏 谢敬华[1,2] 甘章泽 ZHOU Chengmin;XIE Jinghua;GAN Zhangze(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;State Key Laboratory for High Performance Complex Manufacturing,Central South University,Changsha 410083,China)

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《传感器与微系统》2020年第10期8-10,共3页Transducer and Microsystem Technologies

摘　　要：四索驱动摄像机器人是一种绳牵引并联驱动机器人,根据其构型,提出了一种改进的正向运动学算法,不涉及求解雅可比矩阵导数及其逆,对该机构运动学进行快速精确求解。通过与牛顿迭代法进行数值实验对比,表明所提出的改进算法在同等精度下极大提升了运算速度,验证了该算法的有效性、准确性和实用性。Four-cable driven camera robot is a kind of rope-driven parallel robot.An improved forward kinematics algorithm based on its configuration is proposed,which does not involve solving the derivative of the Jacobi matrix and its inverse,fast and accurate solution of kinematics of this mechanism is carried out.By comparing with Newton iteration method,it is shown that the improved algorithm greatly improves the operation speed with the same precision,and the validity,accuracy and practicability of the algorithm are verified through numerical experiments.

关 键 词：绳牵引并联驱动 雅可比矩阵 运动学正解 运算速度 

分 类 号：TH112[机械工程—机械设计及理论]