脊骨式柔性臂机构的机理、运动学与控制

PRINCIPLS, KINEMATICS AND CONTROL OF THE FLEXIBLE ARM WITH SPING STRUCTURE

摘要: 本文阐述了球面脊骨式机器人柔性臂的机构原理，推导了臂的弯曲运动与钢缆牵拉运动之间的关系，经运动学分析推证了它的齐次变换，并在计算机上仿真其工作空间，最后还论述了该机构的驱动和控制．

Abstract: In this paper the mechanism theorem of the flexible robot arm with spine structure is expound-ed. The relationship between the curved movement of the arm and the drawn movement of the steel cables isstudied. In addition, we have deduced the homogeneous transformation of the arm and also simulated itsworking space on the basis of the kinematic analysis. And finally the method of driving and controlling theflexible arm is discussed.