| 矿用腕部偏置伸缩型Pieper机器人新算法数值解研究 |
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| 引用本文： | 姚海峰,刘伟,郑晓雯,张兰胜,刘福新,吴淼. 矿用腕部偏置伸缩型Pieper机器人新算法数值解研究[J]. 矿业科学学报, 2020, 5(6): 672-680. DOI: 10.19606/j.cnki.jmst.2020.06.010 |
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| 作者姓名： | 姚海峰 刘伟 郑晓雯 张兰胜 刘福新 吴淼 |
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| 作者单位： | 1中国矿业大学(北京) 机电与信息工程学院,北京100083;2河北省煤矿机械工程技术研究中心,河北石家庄051431;3石家庄煤矿机械有限责任公司,河北石家庄051431 |
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| 基金项目： | 河北省科技攻关计划;国家重点基础研究发展计划（973计划） |
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| 摘 要： | 矿用机器人腕部采用偏置形式承受较大负载,同时执行端采用滑动构件以增大作业范围。本文对此类腕部偏置伸缩型机器人进行研究,发现该构型机器人空间结构的2个特性:一是对第5自由度的求解可转化为对特定直线与特定平面法线夹角的求解;二是矢量轴3和矢量轴4交点与原点O之间距离为定值。这2个特性表明可对第5和第6自由度进行迭代搜索求解,提出了一种无须建立各连杆坐标系的机器人运动学求解方法,求解在全局坐标系内完成,采用逐步完成的方法进行正向求解,采用逐步归位的方法进行逆向求解。新的求解方法耗时短、精度高,解决了传统数值方法不利于工业应用的问题,推动了腕部偏置伸缩型Pieper机器人在截割头组对焊接和井下凿岩工作中的应用。
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| 关 键 词： | 腕部偏置伸缩 Pieper机器人 结构特性 迭代搜索 新算法 产品应用 |
Study on numerical solution of wrist offset Pieper robot for mining with prismatic link based on new method |
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| Affiliation: | 1School of Mechanical Electronic & Information Engineering,China University of Mining & Technology Beijing,Beijing 100083,China;2Hebei Coal Mine Mechanical Engineering Technology Research Center,Shijiazhuang Hebei 051431,China;3Shijiazhuang Coal Mining Machinery Co,Ltd,Shijiazhuang Hebei 051431,China |
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| Abstract: | The offset wrist robot with prismatic link for mining equipment can withstand large loads and has a large operating rangeIn this paper,this type of robot is studied,and two characteristics of its architecture are foundOne is that the solution for the fifth degree of freedom is equivalent to the solution for the angle between a special line and a special planeThe other one is that the distance from the origin to the intersection of vector axis 3 and vector axis 4 is a fixed valueThe two characteristcs make it possible to obtain the solution of the fifth and sixth degrees of freedom by iterative searching methodA new method of robot kinematics solution is proposedIt is not necessary to establish the coordinate frames attached to all the linksThe whole calculation process is completed in the global coordinate systemThe forward kinematics is completed step by step in sequence and,the inverse kinematics is completed step by step by returning methodThe new method has the advantages of short calculation time and high accuracy,which solves the problem that the traditional numerical method is not conducive to industrial application and promotes the application of the Pieper robot which has offset wrist with prismatic link in the welding of cutting head and underground drilling. |
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