摘要
在机器人工程技术领域,有许多建立连杆坐标系的方法,均称为D-H方法。但这些方法在细节上却有些不同,具体表现为对于串联机器人中间连杆,建立其连杆坐标系选择建立在前关节轴线上还是后关节轴线上,并对应称之为标准D-H方法和改进D-H方法。许多机器人行业工程技术人员没有意识到这两种不同方法在描述串联机器人运动学细节上有许多区别。详细介绍了这两种方法的优缺点及联系,为工程技术人员利用不同形式的D-H方法建立串联机器人数学模型提供了参考依据。
In the field of robot engineering, there are many methods for establishing a link coordinate system, which are called D-H methods. However, these methods are somewhat different in detail. The specific performance is that for the intermediate link of the tandem robot, the selection of the link coordinate system is established on the front joint axis or the rear joint axis, and is called the standard DH method and the improved DH. method.Many robotics engineers and technicians are unaware that these two different methods have many differences in describing the kinematic details of tandem robots. The advantages, disadvantages and connections of these two methods are introduced in detail,which provides a reference for engineers and technicians to establish mathematical models of tandem robots by using different forms of D-H methods.
作者
文辉
WEN Hui(Zhuhai Gree Electrical Appliance Co., Ltd., Zhuhai 519000)
出处
《现代制造技术与装备》
2019年第4期117-118,121,共3页
Modern Manufacturing Technology and Equipment