可重构液压自伺服机器人关节D-H参数库建立与运动学分析

D-H Parameter Library Establishment and the Kinematics Analysis for Reconfigurable Hydraulic Self Servo Robot Joint

提出了一种利用迭代法求解可重构液压自伺服机器人逆解的方法。对可重构液压自伺服机器人关节做了定义,得出了相邻两动力模块较优连接方式表;探讨了3个动力模块之间的连接方式,建立了D-H参数库一,再根据动力模块与末端执行器之间的连接方式建立了D-H参数库二;介绍了机械臂数学模型,并选定了一种构型,根据该构型便可确定与其相对应的D-H参数,并得到了该构型的正运动学方程组;最后通过迭代法求得了可重构液压自伺服机器人逆解,并利用ADAMS软件验证了逆解的可行性。仿真结果表明:利用迭代法求可重构液压自伺服机器人运动学逆解是切实可行的,且迭代法适用于任何构型求逆解。

An iterative method for solving the inverse of reconfigurable hydraulic self servo robot was proposed. A definition of reconfigurable hydraulic self servo robots was gave,two adjacent power module optimum connection table was obtained. The connection between the three power modules was discussed,D-H parameters library one was established,and the D-H parameters library two was established according to the connection mode between the power module and the end executor. The mathematical model of mechanical arm was introduced and a configuration was selected,D-H parameters was determined according to the configuration,and the configuration of the forward kinematics equations was obtained. Finally the inverse of reconfigurable hydraulic self servo robot with the iterative method was gained. To verify the feasibility of the inverse iteration method for robot motion,the simulating test was proceeded by ADAMS software. The simulation results show that using the iterative method for solving the kinematics inverse of reconfigurable hydraulic self servo robot is feasible,and the iterative method is applicable to any configuration of the inverse solution.