RT-1蛇形柔体机器人的特点及逆运动学解

Research on RT-1 Snake-Like Flexible Robots' Character and Counter Solution

基于一个电机驱动、计算机控制、特殊铰杆式同步万向节连接的 6自由度柔性臂组成的RT- 1柔体机器人 ,探讨了用迭代法求解 6自由度柔性臂的逆运动学解 .由位置、姿态结构分别进行综合、求逆 ,交替调用两部分的逆解 /迭代求出整个逆运动学解 θi.经编程运算 ,给出了实例结果 .

This paperintroduced the creative character of a flexible robot RT- 1 .On the base of6R flexible arm,which is driven by a electrical motor,controlled by computer and connected by special synchromesh cardan joint,itresearched on countersolution of 6R robotwith alternation method. The place and posture structures are separately synthesized and inversed.Then the two parts'counter solutions are alternately called and iterated to getthe inverse motion solutionθi. The examples were also given.