Kinematics Analysis of Sewing Robot based on Double Quaternion

Xin Yan; Liping Ma; Xiaohua Wang; Nan Wu

doi:10.16578/j.issn.1004.2539.2020.10.010

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Kinematics Analysis of Sewing Robot based on Double Quaternion

Design· Calculation | 更新时间：2022-11-10

- Kinematics Analysis of Sewing Robot based on Double Quaternion
- Journal of Mechanical Transmission Vol. 44, Issue 10, Pages: 68-73(2020)
- 作者机构：
  
  1.西安工程大学电子信息学院，陕西西安 710048
  2.陕西学前师范学院信息工程学院，陕西西安 710100
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.10.010
  CLC：
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闫鑫,马丽萍,王晓华等.基于倍四元数的缝纫机器人运动学分析[J].机械传动,2020,44(10):68-73.

Yan Xin,Ma Liping,Wang Xiaohua,et al.Kinematics Analysis of Sewing Robot based on Double Quaternion[J].Journal of Mechanical Transmission,2020,44(10):68-73.
闫鑫,马丽萍,王晓华等.基于倍四元数的缝纫机器人运动学分析[J].机械传动,2020,44(10):68-73. DOI： 10.16578/j.issn.1004.2539.2020.10.010.

Yan Xin,Ma Liping,Wang Xiaohua,et al.Kinematics Analysis of Sewing Robot based on Double Quaternion[J].Journal of Mechanical Transmission,2020,44(10):68-73. DOI： 10.16578/j.issn.1004.2539.2020.10.010.

摘要

针对传统D-H法以及旋量法进行机器人运动学分析过程中存在运算效率低、奇异性的问题，采用倍四元数求解了缝纫机器人的运动学参数。建立倍四元数形式的缝纫机器人的运动学方程，应用消元法构造Dixon结式，实现运动学参数求解。在受限工作范围内进行运动学分析仿真，结果表明，该方法运算效率高，较D-H法在速度上提高了10%左右，可为机器人纺织缝纫过程中的运动控制提供理论依据。

Abstract

Aiming at the problems of low calculation efficiency and singularity in the traditional D-H method and spinor method for robot kinematics analysis， the kinematics parameters of sewing robot are solved by using double quaternion. The kinematics equations of the sewing robot in double quaternion form are established， and the Dixon resultant is constructed using the elimination method to solve the kinematic parameters. The kinematics simulation is performed in a limited working range. The simulation results show that the method has high computing efficiency， which is about 10% faster than the D-H method， and can provide a theoretical basis for the motion control of the robot textile sewing process.

关键词

四元数法倍四元数法Dixon消元缝纫机器人运动学工作空间

Keywords

Quaternion methodDouble quaternion methodDixon eliminationSewing robotKinematicsWorkspace

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