共查询到19条相似文献,搜索用时 796 毫秒
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本文提出一种新型简单6-SPS并联机器人机构,给出了它的变形型式并讨论了其位置正解.该机构的位置正解通过依次求解三个一元二次代数方程即可得到.本文最后给出了数值实例. 相似文献
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基于神经网络的并联3自由度机器人位置正解 总被引:1,自引:0,他引:1
并联机器人位置正解是机器人运动学中难点问题之一,常规求解方法比较复杂且难度较大,通常需要对大量的非线性方程组进行推导计算且得到的解不唯一。该文提出了一种将人工神经网络用于并联机器人位置正解求解的通用方法,并结合实际机构对并联3自由度机器人进行了具体求解。通过对神经网络拓扑结构的设计以及选取有效的学习算法并用大量的位置反解数据对神经网络进行训练,获得了用于求解位置正解的神经网络模型,该网络可以实现位置正解问题的求解计算,从而避免了复杂的推导和演算。计算机仿真与实验结果表明了该方法的有效性与可行性。 相似文献
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目的为提高工作效率,提升工业机器人的可靠性、稳定性和运动精度,避免机器人出现速度以及加速度的突变,对机器人的位置进行准确的控制。方法 以RBT-6T03P并联机器人为例,应用坐标变化法和位置反解算法对并联机器人机构的位置坐标进行分析并利用MATLAB进行仿真。结果 结果表明:通过位置反解对并联机器人的坐标进行变换求解是方便可行。结论 所述控制方法相对于并联机器人求正解算法更加简单、方便、快捷。 相似文献
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机器人机构精度研究的进展 总被引:2,自引:0,他引:2
本文就近年来机器人机构误差分析和精度综合等方面的文献资料进行了综合评述.特别是对机器人位置精度分析的基准位置、机器人机构的静态误差分析、动态误差分析、机器人手部位置误差的合成及补偿、位置精度综合及位置精度测试等方面的进展情况讨论得尤为详细.通过本文可对国内外机器人机构精度的研究现状有一概貌的了解. 相似文献
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一种新型简单6—SPS并联机器人及其位置正解 总被引:3,自引:0,他引:3
本文提出了一种新型简单6-SPS并联机人机构,给出了它的变形型式并讨论了位置正解,该机械的位置正解通过依次求解三个一一元二次代数方程即可得到。本文最后给出了数值实例。 相似文献
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Zheng Geng Leonard S. Haynes James D. Lee Robert L. Carroll 《Robotics and Autonomous Systems》1992,9(4):237-254
In this paper, a dynamic model for a class of Stewart platform (six degrees of freedom parallel link robotic manipulators) is derived by using tensor representation. A set of six Lagrange's equations are obtained. The kinematics analysis for a class of Stewart platform is conducted and a sixteenth order polynomial equation corresponding to the forward kinematic solution of the Stewart platform is obtained, which gives all possible global solutions of a manipulator configuration for a given set of six leg lengths. 相似文献
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《Advanced Robotics》2013,27(4):395-409
The method presented in this paper is a new approach to solve the forward position problem in parallel manipulators. Mechanisms are modeled as a set of nodes related by geometrical constraints. These form a system of equations that is solved using an iterative process. The procedure is systematic and is integrated in a software package for the analysis and simulation of mechanisms. Its high computational efficiency gives it the potential to be implemented in a velocity control scheme. 相似文献
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机器人运动分析的一组新等式推证及应用 总被引:1,自引:0,他引:1
本文推证了一组刚体旋转矩阵与角速度矢的新等式,以该组等式为基础,文中提出并讨论了一种利用旋转矩阵的导数矩阵分析机器人运动的方法,所提方法在文中的运用表明,它可以取代以往过于繁琐的图解法和递推法,成为一种简明有效的机器人运动分析方法,作为该法应用结果,文中给出了由n个杆件构成的n个自由度机器人雅可比矩阵的一种简明封闭式,具有一定实和价值,这里的方法可作为一般刚体运动分析理论的补充。 相似文献
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Dynamics and control of mobile manipulators is obviously a more challenging problem compared to fixed-base robots. Including
a suspension system for these mobile platforms increases their maneuverability, but considerably adds to their complexity.
In this paper, a suspended wheeled mobile platform with two 6-DOF Puma-type manipulators is used to manipulate an object along
a given path. To apply a model-based control algorithm, it is required to have an explicit dynamics model for such highly
nonlinear system. This model should be as concise as possible to include fewer mathematical calculations for online computations.
Therefore in this paper, a detailed set of dynamics equations for a multiple arm wheeled mobile platform equipped with an
effective suspension system is presented. The method is based on the concept of Direct Path Method (DPM), which is extended
here for such challenging type of robots. The obtained dynamics model is then verified with a dynamical analysis study using
software ADAMS. Then, Natural Orthogonal Complement Method is used to include the non-holonomic constraint of the wheeled
platform in a more concise dynamics model. Next, an impedance control law is applied for cooperative manipulation of an object
by the two manipulators. The obtained results for a suspended wheeled platform equipped with two 6-DOF Puma-type manipulators
reveal a successful performance for moving an object along a mixed circular-straight path, even in the presence of unexpected
disturbing forces, system/end-effector flexibility and impacts due to contact with an obstacle. 相似文献
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In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method. 相似文献
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This work reports on the kinematics of a series-parallel manipulator built with two zero-torsion tangential parallel manipulators assembled in series connection. Although this mechanism has been widely studied, there are some topics that must be revised, e.g. the mobility analysis here reported shows that the robot under study is not precisely a six degrees of freedom spatial mechanism as it has been commonly considered. Furthermore, the traditional hexagonal coupler platform is replaced with a three-dimensional platform which yields a mechanism with a more general topology. The forward and inverse displacement analyses of the robot are obtained in semi-closed form solutions based on simple closure equations which are generated upon the coordinates of three points embedded to the moving platform while the input–output equations of velocity and acceleration of the semi-general series-parallel manipulator are easily derived by resorting to reciprocal-screw theory. A case study is included in order to show the application of the method of kinematic analysis. 相似文献
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针对地市公安信息化建设的需求,首先研究智慧警务系统的总体架构,包括1个警务实战应用平台、1个数据中心和3个信息采集系统;其次,严格遵照软件系统架构标准提出警务实战应用平台设计方法,完成4个流程的业务模型分析和1个工具集的构建,平台利用工作流引擎支持相关业务流程的定制和调整。构建智慧警务数据中心平台,通过开放式云平台架构、大数据混合存储体系、大数据分析计算体系等关键技术应用,有效解决了地市公安局当前存在的数据分散存储、业务系统功能重叠和警务实战业务流程信息化程度不高等问题。该研究成果已被成功应用于全国公安数据标准化试点城市——邯郸市公安局警务实战应用系统建设项目中,对地市级公安信息化发展具有重要意义。 相似文献
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Kinematics of a class of parallel manipulators which generates structures with three limbs 总被引:1,自引:0,他引:1
J. Gallardo-Alvarado H. Orozco-Mendoza R. Rodríguez-Castro J. M. Rico-Martínez 《Multibody System Dynamics》2007,17(1):27-46
In this paper, the forward position analysis (FPA) of a class of parallel manipulators which can be modeled as structures
with three limbs when the active joint rates, namely the generalized coordinates, are locked, is carried out using mixed and
analytic procedures. The first option is a novel procedure which combines a numerical method and the closed-form solution
of the geometry of a tetrahedron, that allows to find all the possible solutions for the FPA when specific requirements are
satisfied. The second option is an analytic procedure capable of reducing a nonlinear system of three equations in three unknowns
into a univariate 16th order polynomial equation, which evidently leads to a multiple solution. The introduction of linear
equations, proposed in this contribution, obtained from the particular topology of these mechanisms simplifies considerably
the FPA. In order to complement the kinematic analyses, the acceleration analysis of an exemplary parallel manipulator is
approached by means of standard screw theory. Of course, as an intermediate step, this contribution also provides the velocity
analysis of the chosen parallel manipulator. Finally, two numerical examples are provided. 相似文献
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传统对象建模技术生成的PIM(Model Driven Architecture)一般是多重关注点混杂在一起的大型模型,该模型会导致PIM到PSM(Platform Specific Model)的模型转换工作较为困难.提出了一种基于面向方面机制的模型转换方法,该方法在模型层将系统横切关注点与核心关注点分离,单独建模为方面子模型,给出了方面PIM到方面PSM的转换规则,改进了对象建模生成的模型在转换中关注点混杂和对横切关注点管理的不足. 相似文献