基于旋量理论的排球发球机器人挡板模块的运动学和动力学方程

Kinematic and dynamic equations of the baffle module of robot of volleyball server based on the screw theory

排球发球机器人是一新兴的产品,对其进行运动学和动力学的分析是对其进行运动控制的基础。排球发球机器人的挡板模块是一开链式机构,基于旋量理论的运动学和动力学的分析方法是利用运动螺旋和指数积等数学工具建立其运动学和动力学方程,求驱动力矩,比采用传统的D-H方法建立局部坐标系简化了对机器人运动学和动力学的分析,从而为建立控制策略、控制方法、轨迹规划做好必要的准备。

The robot of the volleyball server is a new product, and its kinematic and dynamic analysis is the basis of its kinematic control. The baffle module of the robot is an opened chain. The method of kinematic and dynamic analysis based on the screw theory is used to build up kinematic and dynamic equations of the robot by using the mathematic tools of twist and exponential product and get the driving moments. By comparison to the traditional D-H method of building the local coordinate system, the presented method simplifies analysis methods of robot＇s kinematics and dynamics, which is beneficial to establishing the control policy,control method and track programming.