连续型机器人运动学的平面圆弧法建模与实验研究

Modeling of Kinematics of Continuous Robot via Plane Circular Method and Experimental Study

针对当前连续型机器人的运动学逆解求解复杂、低效这一问题,提出了一种基于平面圆弧法的运动学建模方法,其具有运动学逆解求解简单、高效的特点。利用该方法在平面内拟合连续型机器人的弯曲运动形状,建立其运动学模型,分析其驱动空间、关节空间和操作空间的映射关系,并描述其工作空间。分析连续型机器人在平面内弯曲形状的几何约束,建立关节空间变量之间的数学关系,降低求解复杂逆运动学问题的难度。对机器人末端执行器的位置和驱动线长度变化曲线进行仿真分析,求解逆运动学的有效解,并研制原理样机进行样机实验,实验表明该运动学模型的正确性以及逆运动学求解方法的有效性。

In order to solve the problem that the inverse kinematics solution of continuous robot is complex and inefficient,a kinematics model based on the plane circular method is proposed,which has the characteristics of simple and efficient for inverse kinematics solution.The method is used to fit the shape of the bending motion of the continuous robot in the plane and the kinematics model for the continuous robot is presented.The mapping relationship between the drive space,joint space and operation space are analyzed and the workspace is described.The geometric constraints of the curved shape in the plane of the continuous robot are analyzed,and the mathematical relationship between the joint space variables is established to reduce the difficulty of the complex inverse kinematics problems.The position of end-effector and the change of drive line length are simulated and the effective solution of the inverse kinematics is solved.The correctness of the kinematics model and the effectiveness of the inverse kinematics solution are verified by using the prototype experiment.