Kinematical Analysis of Waist Structure of Single Drive Robot

Hu Yankai; Zheng Meng; Hou Zhao; Lin Yuanbin; He Beilin

doi:10.16578/j.issn.1004.2539.2018.09.015

您当前的位置：

首页 >

文章列表页 >

Kinematical Analysis of Waist Structure of Single Drive Robot

更新时间：2022-10-20

- Kinematical Analysis of Waist Structure of Single Drive Robot
- Vol. 42, Issue 9, Pages: 75-79(2018)
- 作者机构：
  
  1. 西安理工大学机械与精密仪器工程学院
  2. 西安理工大学工程训练中心
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.09.015
  CLC：
扫描看全文
[1]胡艳凯,郑勐,侯昭,林源斌,何备林.一种单驱动机器人腰部结构的运动学分析[J].机械传动,2018,42(09):75-79+96.

Hu Yankai, Zheng Meng, Hou Zhao, et al. Kinematical Analysis of Waist Structure of Single Drive Robot. [J]. 42(9):75-79(2018)
[1]胡艳凯,郑勐,侯昭,林源斌,何备林.一种单驱动机器人腰部结构的运动学分析[J].机械传动,2018,42(09):75-79+96. DOI： 10.16578/j.issn.1004.2539.2018.09.015.

Hu Yankai, Zheng Meng, Hou Zhao, et al. Kinematical Analysis of Waist Structure of Single Drive Robot. [J]. 42(9):75-79(2018) DOI： 10.16578/j.issn.1004.2539.2018.09.015.

摘要

针对现在机器人多驱动并且其运动学特性和控制系统复杂的情况,设计了一种具有躲闪功能的机器人腰部结构,该结构具有单驱动、多自由度、结构简单、运动分级精确并且易控制的特点。介绍了该机器人腰部结构的运动学原理及相关初始参数的选择,并用Denavit-Hartenberg（D-H）法求解出上身在不同情况下的坐标变换矩阵,并得出机器人的正解和逆解;最后建立了该结构的三维模型,简化并导入ADAMS软件进行运动学仿真分析,并通过实验验证了该结果。

Abstract

Aiming at the situation that the robot is multi-driven and has complex kinematical characteristics and control system,a waist structure of robot with dodge function is designed,which has the characteristics of single-drive,multi-degree of freedom,simple structure,accurate and easy motion classification. The kinematical principle of the structure and the selection of the relevant initial parameters are introduced and the coordinate transformation matrix of the upper body under different conditions is obtained by Denavit-Hartenberg（ D-H） method. The positive and inverse solutions of the robot are obtained. Finally,the three-dimensional model of the structure is built,the model is simplified and imported into ADAMS software for kinematics simulation analysis and the results are verified by experiments.

关键词

躲闪功能机器人腰部结构单驱动坐标变换运动学分析Adams

Keywords

Dodging functionRobot waist structureSingle driveCoordinate transformationKinematics analysisAdams

references

Views

176

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design on a Hybrid Drive Feeding Mechanism of High-speed Industrial Sewing Machine

Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair

Configuration Design and Kinematics Analysis of a New Type of a Quadruped Robot Leg Mechanism

Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators

Research and Simulation of Cornering Characteristics on Oil and Gas Pipeline Robots

Related Author

No data

Related Institution

Jack Technology Co., Ltd.

Higher Vocational College, Taizhou Open University

Zhejiang Jack Intelligent Sewing Technology Co., Ltd.

School of Mechanical Engineering, Tiangong University

Tianjin Key Laboratory of Modern Electromechanical Equipment Technology

⁰