圆钢端面贴标混联机器人雅可比矩阵求解

圆钢端面贴标混联机器人由并联机构串接串联机构组成。根据微分变换法的计算特点,逐列计算贴标混联机器人雅可比矩阵。采用微分变换法对并联机构运动学约束方程求导获得并联机构雅可比矩阵。在建立串联机构D-H参数的条件下采用微分变换法得到其雅可比矩阵。对照并联机构和串联机构在混联机器人的结构中的位置,将其雅可比矩阵代入到混联机器人雅可比矩阵相应的列中,进而得到贴标混联机器人整体的雅可比矩阵。圆钢端面贴标混联机器人雅克比矩阵的求解为进一步工作空间分析和尺度综合提供了依据。

Solution of Jacobian Matrix of the Labeling Hybrid Robot for Round Steel End Surfaces

Labeling hybrid robot for round steel end surfaces consists of parallel mechanism serially connected series mechanism. The Jacobian matrix of the labeling hybrid robot was calculated column by column according to the calculation characteristics of the differential transformation method. The differential transformation method was used to derive the kinematic constraint equation of the parallel mechanism to obtain the parallel mechanism Jacobian matrix, then, the differential transformation method was used to obtain the tandem mechanism Jacobian matrix under the condition of establishing the D-H parameters of the series mechanism. Substituting the Jacobian matrix of the parallel mechanism and the Jacobian matrix of the series mechanism into the corresponding columns of the hybrid robot Jacobian matrix, furthermore, the Jacobian matrix of the labeling hybrid robot was obtained. The solution of the Jacobian matrix of the labeling hybrid robot for round steel end surfaces lays the foundation for further workspace analysis and scale synthesis.