基于旋量理论的7自由度机械臂运动学建模与分析  

Kinematics Modeling and Analysis of Seven-degree-freedom Robotic Arm Based on Spinor Theory

作　　者：李冠琦 武建德[1] 李瑞琴[1] LI Guanqi;WU Jiande;LI Ruiqin(Institute of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械制造与自动化》2022年第1期105-107,共3页Machine Building & Automation

基　　金：山西省自然科学基金项目(201801D121183);山西省重点研发计划项目(201803D421028;201903D421051)。

摘　　要：机械臂模仿人手臂的7自由度会拥有冗余自由度。基于旋量理论计算7自由度机械臂的正向运动学解,从数值上验证矩阵指数先分块展开比直接泰勒展开准确。用Newton-Raphson数值迭代法求逆解。通过编写Matlab程序对正逆解互相验证。研究发现逆解的求解有适用范围,较之传统的D-H法,使用0螺距的螺旋轴,会使建模更加简洁。The robotic arm mimicking the 7 DOF of the human arm will have redundant degrees of freedom.The forward kinematic solution of the seven-DOF robotic arm is calculated based on the spinor theory,and it is verified numerically that the matrix exponential first block expansion is more accurate than the direct Taylor expansion.The Newton-Raphson numerical iteration method is used to find the inverse solution.The forward and inverse solutions are verified against each other by writing a matlab program.It is found that there is a range of applicability for the inverse solution,and the use of a 0-pitch spiral axis results in a more concise modeling than the traditional D-H method.

关 键 词：旋量 机械臂 Newton-Raphson数值迭代法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]