基于旋量法的飞机表面清洗机器人运动学分析 |
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引用本文: | 金玉阳,张明路,高庆吉,于常娟.基于旋量法的飞机表面清洗机器人运动学分析[J].机床与液压,2014,42(6):54-58. |
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作者姓名: | 金玉阳 张明路 高庆吉 于常娟 |
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作者单位: | 河北工业大学机械工程学院;中国民航大学机器人研究所; |
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基金项目: | Project supported by Undergraduate Innovative Training Program(IECAUC13008) |
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摘 要: | 针对5自由度飞机表面清洗机器人,通过旋量和指数积公式求解了运动学正解,得出末端执行器相对惯性坐标系的位形。采用运动螺旋求解了运动学正解的雅可比矩阵,为机构的奇异性、实时控制、可操作性的研究提供了理论基础。
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关 键 词: | 机器人 雅可比矩阵 运动学 旋量理论 指数积公式 |
Kinematics analysis of cleaning robot for aircraft surfaces based on screw theory |
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Abstract: | Focusing on 5-DOF cleaning robot for aircraft surfaces, the screw theory and exponentials formula are used for the forward kinematics solution of robot. And the configuration of the end-effector relative to inertial coordinate frame was obtained. Besides, Jacobian matrix of forward kinematics is obtained by the twists, which establishes a basis of singularity of mechanism, future real-time control, and manipulability. |
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Keywords: | Robot Jacobian Kinematics Screw theory Exponential formula |
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