摘要
利用旋量理论分析了埃夫特ER3A-C60机器人的结构,建立了其运动学模型,确定了其结构参数。基于旋量理论导出了该机器人的正运动学方程。基于Paden-Kahan子问题利用几何分析方法导出了该机器人逆运动学方程,求出其位姿参数。以2号机器人从初始位姿到夹取位姿的运动为例,进行了运动学分析,验证了所得结论的正确性。
The structure of the Efort ER3A-C60 robot was analyzed using spinor theory,its kinematics model was established,and its structural parameters were determined.The forward kinematics equation of the robot was derived based on spinor theory.Based on the Paden-Kahan subproblem,the inverse kinematics equation of the robot was derived by geometric analysis method,and its pose parameters were obtained.Taking the movement of robot 2 from the initial pose to clamping pose as an example,the kinematics analysis was carried out and the correctness of the conclusion was verified.
作者
方锐
许德章
FANG Rui;XU Dezhang(School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,China)
出处
《新乡学院学报》
2020年第12期55-59,共5页
Journal of Xinxiang University
基金
安徽省科技攻关计划项目(1604a0902125)。
