串联杆机构运动学分析与建模研究

Research on construction method of kinematics coordinate system for serial mechansims

采用实验方法,对D-H法则与普通坐标变换方法在机构运动学模型构建中的作用进行验证,对位置、姿态及计算过程的匹配度和计算时间等进行分析比较,并对2种方法在运动坐标系变换过程中的应用特点进行实例验证。实验结果表明:D-H方法关于串联杆机构运动学模型的建立存在一定局限性,而普通坐标变换方法能够对串联机构的设计与计算提供优于D-H法则的方法支撑。

The experimental method is used to test the effect of D-H rule and the common coordinate transformation method in constructing the kinematics model of the serial mechanisms, and the solution of position, posture, calculation process and time consuming are used for analyzing and comparative study, simultaneously, the applicable characteristic of the both methods when transforming between different coordinate systems is given in this paper. The study results show that some limitations exist in solving kinematic equations for D-H rule method, while the common coordinate transformation method could provide more efficient process for calculating and designing the serial mechanism.