电驱微差6R关节型开链机械手工作空间运动学逆解

文章介绍焊接及质量检测的新型机械手——电驱微差6R关节型开链机械手,探索该机械手工作空间运动学逆解的基本算法;对其结构特点分析,建立机械手连杆坐标系及其位置运动学逆解方程,在机械手末端位姿一定的条件下,采用消元法求解,获得各关节变量的运动规律,为各电驱微差机构的关节变量控制提供理论依据。利用Mathmatics软件编程验算一实例,其验算结果证明所建立6R开链机械手运动学逆解方程与算法正确,具有一定实用参考价值。

Working Space Kinematics Converse Solution for Electromotor-Driven Micro-Difference Articulated Open-Chain Manipulator with 6-DOT

A novel electromotor-driven micro-difference articulated open-chain manipulator is introduced in the paper. A basic algorithm is explored about the manipulator workspace of kinematics converse solution. Equation of manipulator kinematics anti solution has been gotten through structure analysis, building coordinates of connecting rod. Under the condition of the manipulator extremity location and pose are certain, the regulation of running of each joint variable is acquired through a elimination for the joint variable controlled of electromotor-driven micro-difference mechanism. A computation result is given for checking equation and algorithm rationality and precision to use the Mathmatics software. The result has proved the equation applied and reference values at a certain.