线牵连续型机械臂运动学分析

Kinematics Analysis of Cable-Driven Continuous Manipulator

以狭小作业空间环境为应用背景,设计了一款线驱动连续型机械臂,并对此机械臂的单段关节和三段关节分别进行了正逆运动学分析。分析了驱动空间、关节空间与操作空间三者之间的关系,对这三种空间映射关系的分析即为连续型机械臂的正、逆运动学分析。分析了多关节段之间的运动学耦合关系,并在此基础上分析了多关节段的逆运动学问题,提出了求取逆运动学解的数值算法。最后在Matlab环境中分别对连续型机械臂单关节段和多关节段的正逆运动学算法进行了仿真验证,实验结果验证了所提算法的可行性和有效性。

Based on setting narrow operating space environment as the application background,a cabledriven continuous manipulator is desinged in this paper,and the forward and inverse kinematics of single joint and three joints of the manipulator are analyzed.The relationships are also studied among driving space,joint space and operating space,and the analysis of these three spatial mapping relations is the forward and inverse kinematics analysis of the continuous manipulator.After analyzing the kinematic coupling relationships among multiple joint segments,the inverse kinematics problem of multiple joint segments is studied and the numerical algorithm is implemented for finding the inverse kinematics solution.At last,the forward and inverse kinematics algorithms of single joint segment and mutil-joint segment of continuous manipulator are simulated and verified within Matlab environment,and the experimental results verify the feasibility and effectiveness of the proposed algorithm.