| PITCH－YAW－ROLL全方位关节机构运动学分析与控制 |
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| 引用本文： | 吴伟国,邓喜君,孙立宁,蔡鹤皋.PITCH－YAW－ROLL全方位关节机构运动学分析与控制[J].哈尔滨工业大学学报,1995(5). |
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| 作者姓名： | 吴伟国 邓喜君 孙立宁 蔡鹤皋 |
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| 基金项目： | 国家“863”计划资助 |
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| 摘 要： | 研究的ＰＩＴＣＨ—ＹＡＷ—ＲＯＬＬ全方位关节是基于双万向节传动实现俯仰、偏转、滚动三自由度的新型单关节并联机构，其回转轴线不具备正交性，因而其运动学分析与一般的串联三自由度机构不同。根据双万向节传动的特点运用矢量分析方法解决了该机构的运动学问题，得到了运动学正、逆解及速度Ｊａｃｏｂｉａｎ矩阵，在运动控制软件和硬件研制的基础上，运用微机实现了该关节机构的全方位运动控制。本文的研究内容是进一步研究由该关节构成的仿人臂机构的理论基础。
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| 关 键 词： | 机器人关节 机构运动学 全方位关节 |
The Kinematics Analysis and Control of the PITCH-YAW-ROLL All-Azimuth Joint Mechanism |
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| Wu Weiguo,Deng Xijun,Sun Lining,Cai Hegao.The Kinematics Analysis and Control of the PITCH-YAW-ROLL All-Azimuth Joint Mechanism[J].Journal of Harbin Institute of Technology,1995(5). |
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| Authors: | Wu Weiguo Deng Xijun Sun Lining Cai Hegao |
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| Affiliation: | Wu Weiguo;Deng Xijun;Sun Lining;Cai Hegao(Dept.of Mechanism Engineering) (Robot Research Institute) |
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| Abstract: | The authors have developed a new single-joint three-freedom (pitch,yaw,roll) unsingular mechanism, PITCH-YAW-ROLL all-azimuth joint, which is suited for robot and quasi-man-arm's shoulder or wrist.This paper describes its principle of mechanism, analyzes it's 'kinematics and gives the directive and adverse solution.The paper also describes the control of mechanism motion by microprocessor. |
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| Keywords: | Robot joint kinematics of mechanism all-azimuth joint |
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