摘要
针对D-H参数法求解RPRRP型弹药装填机器人正向运动学过程复杂、效率低的问题,提出了基于POE法的弹药装填机器人正向运动学求解方法。建立了弹药装填机器人的机构模型和旋量参数,计算了各关节的运动旋量,采用POE法进行正向运动学求解。采用D-H参数法进行运动学仿真,得到了不同关节输入下的弹药装填机器人的位姿变换,通过结果对比验证了POE法求解弹药装填机器人正向运动学的正确性,分析了POE法相对于D-H参数法的优越性,探讨了POE法与D-H参数法的内在联系,并在此基础上得到了求解旋量坐标的新方法。
Aiming at the problem that the process of solving forward kinematics of ammunition loading robot based on D-H parametermethod was complicated and inefficient,mechanical model and screw parameters of ammunition loading robot was established, calculatingthe kinematic screw of each jaint and solvingthe forward kinematics problem ofammunition loadingrobot based on the product of exponentialsmethod The tansform of position and pose of end effector in different joint inputs was obtained withkinematics simulationcombined with D-H parameter method, proving POE method to solve forward kinematics of ammunition loadingrohotto be valid bytesting and verifyingthe results of two methods, analyzingthatproduct of exponentialsmethod is superior than D-H parameter method, discussing the internal relationships between product of exponentials method and D-H parameter method, from which a new method to calculating the coordinates of kinematic screw was getted.
出处
《机械设计与制造》
北大核心
2015年第11期160-162,共3页
Machinery Design & Manufacture
基金
军队科研计划项目
