闭链级联式机器人基于旋量理论的动力学分析

闭链级联式机器人是一种复杂型式的机器人,对其进行动力学分析是实现对其进行运动控制的必要前提.闭链级联式机器人的结构特点是:任何一个闭链级联式机器人都存在一条主运动链,且主运动链为开链机器人;主运动链的各个关节均为被动关节或被测量关节,分别由相应的闭链驱动或测量.基于旋量理论的动力学分析方法是通过使用运动螺旋和指数积公式等数学工具建立起机器人的动力学方程,从而求取机器人的驱动力矩.由于闭链级联式机器人存在闭链,其动力学分析方法不同于传统的开链机器人,用旋量理论建立闭链级联式机器人的动力学方程的要解决两个关键问题:其一是闭链的分解,其二是惯性矩阵的求取.该方法也为解决单闭链机器人的动力学分析问题提供了基础.

Screw theory based dynamics analysis of tandem robots of closed chains

Tandem robots of closed chains are a type of complex robots.Dynamics analysis of these robots is necessary before achieving their motion control.The structural characteristic of tandem robots is that each one has a major kinematic chain,which is an open-chained robot.Either being passive or measured,the joints of the major kinematic chain are driven or measured by corresponding closed chains.The method of dynamics analysis based on screw theory is done to build up a dynamical equation of the robots by using the mathematical tools of twist and product exponentials formula in order to finally get the result of driving moments.Tandem robots of closed chains have closed chains,so the dynamical analysis of this type of robots is quite different from that of traditional open-chained robots.Two key problems must be solved before building up the dynamical equation of the tandem robots of closed chains: the analysis of the closed chains and the computation of the inertia matrix.This method also provides a fundamental way of analyzing the dynamics of closed-chain manipulators.