基于几何向量法的机器人建模  

Robot Modeling Based on Geometric Vector Method

作　　者：郑力铭 蔡小可 罗伟林[2] Zheng Liming;Cai Xiaoke;Luo Weilin(School of Oceanography,Fuzhou University,Fuzhou 350108,China;College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学海洋学院,福州350108 [2]福州大学机械工程及自动化学院,福州350108

出　　处：《机电工程技术》2020年第12期86-88,共3页Mechanical & Electrical Engineering Technology

基　　金：福建省海洋高新产业发展专项基金资助项目(编号:闽海洋高新[2016]16号)。

摘　　要：为提高多自由度机器人建模的准确性,提出一种基于DH法则的改进建模方法——几何向量法,在保留扭角、连杆间距和转角等DH参数的前提下,将杆长重新定义为一个向量,以避免传统DH法容易出现的对杆长的误判。分别结合一个二轴和六轴的多自由度机械手,应用几何向量法进行建模仿真,将仿真结果与经典的几何解结果进行对比,对比结果表明该建模方法具有足够的精度和准确性,验证了几何向量法在多自由度机器人建模中的有效性。To improve the accuracy of modeling of multi-degree-of-freedom(MDOF)robot,a modified modeling method based on DH principle was proposed.The DH parameters including twist angle,distance between links and the rotation angle were kept unchanged,while the link length was redefined as a vector,which aimed to avoid the wrong definition of the link length by using the conventional DH method.In Matlab simulation environment,two kinds of MDOF robots,i.e.two-shaft and six-shaft robots,were modeled by using the proposed modeling method.The simulation results were compared to the results obtained by traditional geometric method.The comparison results show that the accuracy and correctness can be guaranteed,which demonstrates the effectiveness the proposed modeling method.

关 键 词：机器人 几何向量法 DH法则 数值仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]