| 三角钻臂的运动控制研究 |
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| 引用本文： | 王恒升,何清华,邓春萍. 三角钻臂的运动控制研究[J]. 同济大学学报(自然科学版), 2006, 34(5): 660-664 |
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| 作者姓名： | 王恒升 何清华 邓春萍 |
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| 作者单位： | 中南大学,机电工程学院,湖南,长沙,410075 |
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| 基金项目： | 浙江省湖州市自然科学基金;国家科技攻关项目 |
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| 摘 要： | 建立了三角臂的杆件坐标系，利用多关节闭链的约束条件建立了运动学方程，得到了由给定钻臂位置计算油缸长度的精确算式．增加油缸俯仰角的测量点后，得到缸长的简化算式，减小了油缸长度的在线计算量，应用该式可提高三角钻臂轨迹控制的精确度。
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| 关 键 词： | 三角钻臂 机器人 运动学 运动控制 |
| 文章编号： | 0253-374X（2006）05-0660-05 |
| 收稿时间： | 2004-11-20 |
| 修稿时间： | 2004-11-20 |
Motion Control of Triangle Boom |
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| WANG Hengsheng,HE Qinghua,Deng Chunping. Motion Control of Triangle Boom[J]. Journal of Tongji University(Natural Science), 2006, 34(5): 660-664 |
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| Authors: | WANG Hengsheng HE Qinghua Deng Chunping |
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| Affiliation: | College of Mechanical and Electrical Engineering, Central South University, Changsha 410075, China |
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| Abstract: | Efforts have been made to establish link coordinates of triangular arrangement of boom including two lift cylinders, and then the kinematics equations on the basis of restriction of multi-closedchain. The formula is derived from the kinematics equations to calculate the length of supporting cylinder from the given position of the boom. With extra measurement points of pitch angle of supporting cylinders, the formula is simplified, which will reduce the amount of mathematical operations in realtime control and improve the precision for trajectory control of triangle boom. A case calculation is given in the end. |
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| Keywords: | triangle boom robot kinematics motion control |
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