中国机械工程 ›› 2012, Vol. 23 ›› Issue (10): 1165-1169,1174.

• 机械基础工程 • 上一篇    下一篇

六自由度装校机器人雅可比矩阵的建立及奇异性分析

李诚1;谢志江1;倪卫2;刘楠2   

  1. 1.重庆大学机械传动国家重点实验室,重庆,400044
    2.中国工程物理研究院激光聚变研究中心,绵阳,621900
  • 出版日期:2012-05-25 发布日期:2012-05-30
  • 基金资助:
    国家科技重大专项(RCLF-GL-HT-T01.2.0 (2005)110)
    National Science and Technology Major Project ( No. RCLF-GL-HT-T01.2.0 (2005)110)

Establishment of Jacobian Matrix and Singularity Analysis of a 6-DOF Installing-calibrating Robot

Li Cheng1;Xie Zhijiang1;Ni Wei2;Liu Nan2   

  1. 1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing,400044
    2.Research Center of Laser Fusion,China Academy of Engineering Physics,Mianyang,Sichuan,621900
  • Online:2012-05-25 Published:2012-05-30
  • Supported by:
    National Science and Technology Major Project ( No. RCLF-GL-HT-T01.2.0 (2005)110)

摘要:

针对六自由度装校机器人,通过D-H法建立了各连杆的参考坐标系,给出了装校机器人各连杆与末端执行器的位姿关系,并推导出装校机器人的运动学正解方程。采用微分变换法求得机器人雅可比矩阵并对装校机器人进行了奇异性分析,为装校机器人在实际装校作业环境中的轨迹规划及实时控制提供了理论基础和重要数据。

关键词: 装校机器人, 末端执行器, 雅可比矩阵, 奇异性

Abstract:

Aimed at a 6-DOF installing-calibrating robot,coordinate systems of joints were set up and D-H parameters were obtained by using D-H methods.Then the positions of its moving elements and end-effectors with their relationship were presented and the forward kinematic solution were derived.A Jacobian matrix of  the installing-calibrating robot was established based on differential methods.And singular values of the Jacobian matrix and the condition numbers of installing-calibrating robot were analyzed.It provides the theoretical basis and important data for the robot trajectory planning and online real-time calculation under actually working environments.

Key words: installing-calibrating robot, end-effector, Jacobian matrix, singularity

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