基于激光跟踪原理的空间机构运动学参数测量方法

Kinematic parameters measurement of spatial mechanism based on laser tracking principle

就一般空间机构任意构件运动学参数在线测量问题,提出了激光跟踪方法。在该构件上,选定不共线的3个测量点构成平面内两个互相垂直的向量,按照右手系建立连体基(动系);基于多体系统运动学,得到与该3个测量点绝对坐标动态数据相关的该构件姿态矩阵、角速度和角加速度,以及被测构件上任一点的线位移、线速度和线加速度的求解公式。为串联机器人、并联机器人及至任意空间机构的运动学参数测量和闭环控制提供了理论方法和技术基础。

Aiming at on-line measurement of kinematic parameters of common spatial mechanism, a method of laser tracking was proposed. Three non-collinear points were selected to form two perpendicular vectors mutually and establish local coordinate system in accordance with right-hand rule. Functions of the attitude matrix, angular velocity, angular acceleration and displacement of reference point on measured frame member related to the three points coordinates dynamic measurement were obtained, and its acceleration could be obtained based on multi-body system kinematics. The investigation provided theoretical method and technology support for the kinematic parameters measurement and closed-loop control of serial robot, parallel robot and average spatial mechanism.