基于旋量理论Kane方程的串联机器人动力学分析  

Dynamic Analysis of Series Robot Based on Spinor Theory and Kane Equation

作　　者：晏婷 杨光永[1] 戈一航 于元滐 徐天奇[1] YAN Ting;YANG Guangyong;GE Yihang;YU Yuanjie;XU Tianqi(School of Electrical Information Engineering,Yunnan Minzu University,Kunming 650500)

机构地区：[1]云南民族大学电气信息工程学院,昆明650500

出　　处：《计算机与数字工程》2023年第12期2879-2882,2900,共5页Computer & Digital Engineering

摘　　要：为分析4自由度机器人的操作性能并实现对其精确运动控制,利用基于旋量理论的运动旋量及偏速度旋量等概念,建立4自由度串联机器人的指数积正向运动学模型和Kane动力学模型。根据建立的动力学模型,应用Matlab仿真平台研究了机器人各关节从初始位形到准备位形运动时的驱动力矩。通过仿真结果分析,结合了Kane方法和旋量理论的动力学模型具有准确、简单、有效等特点,能够满足机器人的运动学与动力学分析的要求,为机器人的设计改进和精确运动控制实施奠定了理论基础。In order to analyze the operation performance of 4-DOF serial robot and realize its precise motion control,the expo-nential product forward kinematics model and Kane dynamics model of 4-DOF serial robot are established by using the concepts of motion spinor and partial velocity spinor based on spinor theory.According to the established dynamic model,the driving torque of each joint of the robot from the initial configuration to the ready configuration is studied by using Matlab simulation platform.Through the analysis of simulation results,the dynamic model combining Kane method and screw theory is accurate,simple and ef-fective,which can meet the requirements of robot kinematics and dynamics analysis,and lay a theoretical foundation for the design improvement and accurate motion control implementation of robot.

关 键 词：4自由度机器人 旋量理论 偏速度旋量 KANE方法 动力学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]