基于旋量理论的弓形五连杆机器人运动学建模

Kinematics Modeling of Bow-shaped Five-link Robot Based on Screw Theory

传统的D-H参数法采用建立局部坐标系的方式,在运动学建模过程中存在求解逆解时产生增根的问题。因此,本文通过旋量理论方法建立弓形五连杆的运动学数学模型,对比D-H参数法建立的末端执行器运动学模型,证明两种方法之间的等效性,并基于旋量理论建立起弓形五连杆机器人的速度模型。使用ADAMS软件对弓形五连杆机器人进行运动仿真,测量角速度曲线与MATLAB理论曲线对比,结果表明了旋量理论建模方法的正确性和有效性。

The traditional D-H parameter method adopts the method of establishing a local coordinate system,and there is a problem of increasing roots when solving the inverse solution in the process of kinematics modeling.Therefore,this paper establishes the kinematics mathematical model of the arched five-bar linkage by the screw theory method,compares the kinematics model of the end effector established by the D-H parameter method,proves the equivalence between the two methods,and establishes the speed model of the arched five-bar linkage robot based on the screw theory.ADAMS software is used to simulate the motion of the arched five-link robot.The angular velocity curve is compared with the MATLAB theoretical curve.The results show the correctness and effectiveness of the screw theory modeling method.