基于非完整约束的机械手及其运动学的研究

Research of Manipulator and Its Kinematics Based on Nonholonomic Constraint

依据现有的非完整理论,提出了一种摩擦圆盘运动分解合成机构,理论分析表明这种运动分解合成机构具有非完整约束性。并以此作为关节模型,组成了开链多关节机械手臂。运动学分析结果表明这种多关节机械手臂具有可控性,并可通过链式变换转化为一个简单的非完整系统,这为深入研究这种多关节机械手臂的运动控制奠定了基础。

In terms of the existed theory of nonholonoic the paper refer to a locomotion decompose and compose machine of friction disc.The theorfical analysis indicates that the locomotion decompose and compose machine is to possess the constraint of Nonholonomic.By practicing the machine as a model of joint,we build up a open-chained nonholonomic manipulator.Simultaneously,To analyze the manipulator in kinematics,we can prove the system is controllable.Finally,by processing a chained convert,we can convert it into a the most simple nonholonomic system-chained system.it should be a significant base for later research of the controllable method.