非球型手腕6R串联型喷涂机器人逆运动学分析

Inverse Kinematics Analysis of the 6R Serial Spraying Manipulator with Non-Spherical Wrist

在喷涂机器人中引入非正交非球型3R手腕,根据6个转动关节的空间布局特征,采用矩阵方程和方向余弦相结合的方法,对非正交非球型手腕6R串联型喷涂机器人进行了逆运动学分析,推导出仅含4个未知参数的4个非线性方程组成的方程组,进而可用maple软件进行求解,最后给出一个具有非正交非球型3R手腕的6R串联型喷涂机器人的逆运动学计算实例.矩阵方程和方向余弦相结合的方法也可以推广到其他机构学问题的求解.

A non-orthogonal and non-spherical 3R wrist was introduced into spraying manipulator. According to the characteristics of space distribution of six rotating joints＇ spatial layout, based on the method of the combination of matrix equation and orientation cosine, the inverse kinematics analysis of the 6R serial spraying manipulator with orthogonal and non-spherical wrist was processed. A system of tbur nonlinear equations with four unknown pa- rameters was obtained and then was calculated with the maple software. At the end, an inverse kinematics example of 6R serial spraying manipulator with non-orthogonal and non-spherical 3R wrist was offered. The method of the combination of matrix equation and orientation cosine can be extended to solve other mechanism problems.