刘安心, 杨廷力. 用连续法求一类混合链机器人机构的全部位置正解[J]. 机器人, 1995, 17(3): 147-152.
引用本文: 刘安心, 杨廷力. 用连续法求一类混合链机器人机构的全部位置正解[J]. 机器人, 1995, 17(3): 147-152.
LIU Anxin, YANG Tingli. FORWARD DISPLACEMENT ANALYSIS OF A CLASS OF MIXED MECHANISM USING CONTINUATION METHOD[J]. ROBOT, 1995, 17(3): 147-152.
Citation: LIU Anxin, YANG Tingli. FORWARD DISPLACEMENT ANALYSIS OF A CLASS OF MIXED MECHANISM USING CONTINUATION METHOD[J]. ROBOT, 1995, 17(3): 147-152.

用连续法求一类混合链机器人机构的全部位置正解

FORWARD DISPLACEMENT ANALYSIS OF A CLASS OF MIXED MECHANISM USING CONTINUATION METHOD

  • 摘要: 本文对一类混合链机器人机构的位置正解问题进行了研究.首先用D-H矩阵法建立机构上下平台之间的坐标转换关系;然后利用杆长约束条件得到机构的位置正解方程组;最后应用连续法直接求出其全部位置正解,本文方法形式简法、求解方便,且具有一般性,可推广应用于其他类型混合链机器人机构及并联机器人机构的位置正解研究.

     

    Abstract: The forward displacement analysis of a class of mixed mechanism is studied in this paper. Firstly, the coordinate transformation relation between the moving platform and the fixed platform of the mecha-nism is obtained using D-H matrix method.Then,a set of equations for its forward displacement analysis is established using link-length constraints.At last,all sets of solutions for the set of equations are obtainedwith continuation method.The method used in this paper is general and can also be used for forward displacement analysis of other classes of mixed mechanisms as well as parallel mechanisms.

     

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