| 3种构型的6自由度绳牵引门式起重机器人的运动学位置逆解分析 |
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| 引用本文： | 于兰,郑亚青.3种构型的6自由度绳牵引门式起重机器人的运动学位置逆解分析[J].华侨大学学报(自然科学版),2012(2):125-128. |
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| 作者姓名： | 于兰 郑亚青 |
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| 作者单位： | 华侨大学机电及自动化学院 |
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| 基金项目： | 国家自然科学基金资助项目(50805054);中国博士后科研基金面上资助项目(20090450721) |
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| 摘 要： | 借助Matlab软件,通过运动学逆解分析3种不同构型配置的6自由度起重机器人机构的运动学欠约束问题.研究结果表明:对3根绳牵引的6自由度起重机器人机构构型的改进中,3根主梁互相平行的机构是运动学位置逆解欠约束的,而其他两种机构的约束是充分的,改进的机构不都是运动学约束充分的.
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| 关 键 词： | 绳牵引 起重机器人 欠约束 位置逆解 |
Analysis of Inverse Pose Kinematics for 3 6-DOF Wire-Driven Crane Robots with Different Mechanism Configurations |
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| YU Lan,ZHENG Ya-qing.Analysis of Inverse Pose Kinematics for 3 6-DOF Wire-Driven Crane Robots with Different Mechanism Configurations[J].Journal of Huaqiao University(Natural Science),2012(2):125-128. |
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| Authors: | YU Lan ZHENG Ya-qing |
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| Institution: | (College of Mechanical Engineering and Automation,Huaqiao University,Xiamen 361021,China) |
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| Abstract: | The problem about kinematical under-constraint of the mechanisms of 6-DOF crane robots with 3 different kinds of mechanism configurations is investigated by analysis of their generalized inverse pose kinematics using the Matlab software.The research results have shown that among the improved mechanisms of 6-DOF crane robots with 3 wires,the mechanism with the 3 rails in parallel is kinematically underconstrained,while the constraint of the other kinds of mechanisms is enough;not all of the improved mechanisms have enough kinematical constraints. |
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| Keywords: | wire-driven crane robot under-constrained inverse pose |
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