基于几何解析的偏转关节机械臂运动学分析

Geometry-based kinematic analysis of deflection-jointed manipulator

高负载自重比机械臂在制造业、服务业等领域的不可替代作用日益凸显,针对传统机械臂承载能力提升问题,本文提出了一种偏转关节机械臂及其运动学分析方法。通过分析关节轴线与相邻杆件之间的夹角对机械臂运动特性及承载能力的影响,提出了偏转关节布置形式并设计了偏转关节机械臂。将偏转关节机械臂抽象为等效简易串联机构,根据偏转关节运动特性提取了偏转关节运动方程,建立了机械臂末端位姿解算方法。通过将末端位置参数解耦至距离参量、高度参量、周转角参量,依次建立了关节转角求解公式,获取了偏转关节机械臂全部运动学解析逆解。偏转关节机械臂仿真结果验证了运动学解算方法的可行性与准确性。

ed as an equivalent simple tandem mechanism,the motion equation of deflection joint is extracted according to the deflection joint kinematic characteristics.The solution method to end position and posture of manipulator is further established.By decoupling the end position parameters to the distance,height,and turnover angle parameters,the solution formula of joint angle is established sequentially,and all the analytical solutions of inverse kinematics for deflection-jointed manipulator are obtained.The simulation results of deflection-jointed manipulator verify the feasibility and accuracy of kinematic solution method.