为了使工业机器人的位姿改变更加快速、灵巧，对一种五自由度混联机器人进行了结构分析。建立D-H坐标系求得末端执行器的位姿矩阵，提出一种基于PAUL逆变换法的串联机器人逆运动学封闭解的求解分析方法，求得该机器人的运动学逆解。计算机仿真结果验证了该算法的快速性和有效性。运用包络理论确定局部关节联动所形成的工作空间包络面，论证了该机器人作业姿态的灵巧性。利用几何叠加方法规划出机器人灵巧工作空间，为结构设计和运动控制提供了依据。%The structure of a novel 5-DOF industrial manipulator was analyzed. The homogeneous transformation matrix of the manipulator was obtained by establishing a series of D-H frames. Based on Paul ’ s inverse transformation, an analytical method that could direct the solution of inverse kinematics problems of series manipulators was proposed, and the closed-form solution of inverse kinematics was derived. Computational simulation results indicated that the algorithm was efficient and real-time. The enveloping surface of the local joints’ workspace was specified using envelop theory. Working dexterity of the manipulator was discussed. The dexterous workspace of the manipulator on which the structure design and motion control were based was established via geometrically overlaying the enveloping surfaces of local joints’ workspace.
展开▼
