摘要
针对现在机器人多驱动并且其运动学特性和控制系统复杂的情况,设计了一种具有躲闪功能的机器人腰部结构,该结构具有单驱动、多自由度、结构简单、运动分级精确并且易控制的特点。介绍了该机器人腰部结构的运动学原理及相关初始参数的选择,并用Denavit-Hartenberg(D-H)法求解出上身在不同情况下的坐标变换矩阵,并得出机器人的正解和逆解;最后建立了该结构的三维模型,简化并导入ADAMS软件进行运动学仿真分析,并通过实验验证了该结果。
Aiming at the situation that the robot is multi-driven and has complex kinematical characteristics and control system,a waist structure of robot with dodge function is designed,which has the characteristics of single-drive,multi-degree of freedom,simple structure,accurate and easy motion classification.The kinematical principle of the structure and the selection of the relevant initial parameters are introduced and the coordinate transformation matrix of the upper body under different conditions is obtained by Denavit-Hartenberg(D-H)method.The positive and inverse solutions of the robot are obtained.Finally,the three-dimensional model of the structure is built,the model is simplified and imported into ADAMS software for kinematics simulation analysis and the results are verified by experiments.
作者
胡艳凯
郑勐
侯昭
林源斌
何备林
Hu Yankai;Zheng Meng;Hou Zhao;Lin Yuanbin;He Beilin(School of Mechanical and Precision Instrument Engineering,Xi′an University of Technology,Xi′an 710048,China;Engineering Training Center,Xi′an University of Technology,Xi′an 710048,China)
出处
《机械传动》
CSCD
北大核心
2018年第9期75-79,96,共6页
Journal of Mechanical Transmission
关键词
躲闪功能
机器人腰部结构
单驱动
坐标变换
运动学分析
ADAMS
Dodging function
Robot waist structure
Single drive
Coordinate transformation
Kinematics analysis
ADAMS
