[1]李富娟,李仕华,王凯,等.基于广义雅可比矩阵的空间并联机器人运动学研究[J].燕山大学学报,2018,42(4):296-302.[doi:10.3969/j.issn.1007-791X.2018.04.002]
 LI Fujuan,LI Shihua,WANG Kai,et al.Kinematics analysis of space parallel robot based on generalized Jacobian matrix[J].Journal of YanShan University,2018,42(4):296-302.[doi:10.3969/j.issn.1007-791X.2018.04.002]
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基于广义雅可比矩阵的空间并联机器人运动学研究
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
42
期数:
2018年第4期
页码:
296-302
栏目:
机械工程
出版日期:
2018-09-30

文章信息/Info

Title:
Kinematics analysis of space parallel robot based on generalized Jacobian matrix
文章编号:
1007-791X(2018)04-0296-07
作者:
李富娟李仕华*王凯韩雪艳
燕山大学 河北省并联机器人与机电系统实验室,河北 秦皇岛 066004
Author(s):
LI FujuanLI ShihuaWANG KaiHAN Xueyan
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University,Qinhuangdao,Hebei 066004,China
关键词:
自由漂浮广义雅可比矩阵非惯性系空间并联机器人
Keywords:
free-floating generalized Jacobian matrix non-inertial system parallel mechanism
分类号:
TH113
DOI:
10.3969/j.issn.1007-791X.2018.04.002
文献标志码:
A
摘要:
针对自由漂浮空间并联机器人运动输出部分与载体之间存在运动耦合的问题,提出一种自由漂浮空间并联机器人广义雅可比矩阵的构造方法。基于螺旋理论建立速度映射关系,得到各分支输入速度与上、下平台的运动速度关系,结合动量守恒定律得到出上、下平台的速度运动关系,推导出自由漂浮空间并联机器人的广义雅可比矩阵,以6SPS并联机构为例,进行数值计算和仿真分析对比,验证广义雅可比矩阵构造方法的正确性,也为自由漂浮空间并联机器人的精确控制奠定了基础。
Abstract:
A method for developing the generalized Jacobian matrix is put forward in the light of the kinematic coupling problem between output and supporter of the free-floating space parallel robot.The velocity mapped relationship is discovered,and the relationship between the input velocity of every limb and the upper platform and the lower platform is obtained based on the screw theory.Combined with the principle of energy conservation,the generalized Jacobian matrix of the free-floating space parallel robot is derived.The comparison analysis of numerical calculation and simulation of 6-SPS parallel mechanism is conducted in order to verify the validity of the method.The results of research provide a foundation for accurate control of the free-floating space parallel robot.

备注/Memo

备注/Memo:
收稿日期:2018-01-16         责任编辑:温茂森
基金项目:国家自然科学基金资助项目(51775475);河北省自然科学基金重点项目(E2016203463)
作者简介:李富娟(1985-),女,河北沧州人,硕士,实验师,主要研究方向为机器人理论及设计;*通信作者:李仕华(1966-),男,山东莱西人,博士,教授,博士生导师,主要研究方向为机器人理论及设计、传感器及智能设计,Email:shli@ysu.edu.cn
更新日期/Last Update: 2018-11-28