Paden-Kahan第二子问题扩展问题求机械臂逆运动学研究  

Inverse Kinematics of Serial Manipulators Based on Screw Theory Considering the Extension of Second Paden-Kahan Subproblem

作　　者：张树刚 吕北轩 李勇 隋丽君 ZHANG Shu-gang;LV Bei-xuan;LI Yong;SUI Li-jun(Department of Mechanical and Electrical Engineering,Hulunbeier Vocational Technical College,Inner Mongolia Autonomous Region,Inner Mongolia Hulunbeier 021000,China)

机构地区：[1]呼伦贝尔职业技术学院机电工程系,内蒙古呼伦贝尔021000

出　　处：《机械设计与制造》2023年第2期245-250,共6页Machinery Design & Manufacture

基　　金：内蒙古自治区高等学校科学技术研究项目(NJZY19360、NJZY20241)。

摘　　要：自新型冠状病毒肺炎疫情爆发以来,工业机械臂已成为制造业中“减人不减效”的抗疫战争中的设备关键,而运动学逆解是机械臂进行工作轨迹规划及优化工作效率的理论前提。相比Denavit-Hartenberg法,旋量理论法求解效率较高,且以得到学界业内的大量应用。但旋量理论法的逆解基础Paden-Kahan子问题,只能解决特定的自由度较低串联机构的逆解问题,具备一定局限性。这里在Paden-Kahan第二子问题的基础上,提出了其第二子问题的一种新的扩展问题,实现了对其经典问题进行补充。最后以ABB IRB2600型机器臂作为验证对象,并验证了其有效性。Since the outbreak ofCOVID-19 viruses,industrial serial manipulators have become the key equipment in the anti-epidemic war,in manufacturing industry in order to reduce people but not efficiency.For serial manipulators,the inverse kinematics solution is the key theoretical foundation of improving working efficiency,and the screw theory method has a high efficiency in comparison with Denavit-Hartenberg method.However,the Paden-Kahan subproblem,which is the basis of the inverse solution of screw theory,can only solve the problem of series manipulators with low degree of freedom.On the basis of Paden Kahan’s second subproblem,this paper proposes a new extension of the second subproblem,which complements the classical problems.Finally,ABB IRB2600 manipulator was used to verify the extension,and the theory is verified.

关 键 词：旋量理论 逆运动学 Paden-Kahan 串联机械臂 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]