基于旋量理论6自由度双臂作业系统正运动学与工作空间分析  

Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory

作　　者：郑雪楷 刘放[1] 杨言 魏文清 Zheng Xuekai;Liu Fang;Yang Yan;Wei Wenqing(School of Mechanical Engineering,outhwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械传动》2023年第2期93-100,共8页Journal of Mechanical Transmission

摘　　要：机械臂的轨迹规划和控制的前提,是进行机械臂的正运动学分析。目前,主要的分析方法为D-H参数法。提出了一种比D-H法更快捷、更简单、利于计算的旋量理论方法。通过指数积公式对双臂作业系统进行运动学建模并建立正运动学方程。运用Simpack软件对双臂作业系统进行仿真分析,通过仿真的结果和正运动学方程所求解的结果对比,验证了通过旋量理论建立的正运动学模型的正确性。利用Matlab软件进行工作空间的分析,通过工作空间云图的对比,得到双臂作业系统的工作空间。The trajectory planning and control of the manipulator are based on forward kinematics analysis. At present, the analytical method mainly used is the D-H parameter method. This study proposes a screw theory method which is faster and simpler in terms of calculation than the D-H method. The kinematics modeling and forward kinematics equation of dual-arm operating system are established by product of exponentials formula. Simpack software is used to simulate and analyze the dual-arm operating system. The correctness of the forward kinematics model established by screw theory is verified by comparing the simulation results with the results obtained by the forward kinematics equation. Matlab software is used to analyze the workspace, and the workspace of the dual-arm operating system is obtained by comparing the workspace cloud map.

关 键 词：双臂作业系统 旋量理论 指数积公式 正运动学 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] U226.8[自动化与计算机技术—控制科学与工程]