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矿用腕部偏置伸缩型Pieper机器人新算法数值解研究

姚海峰 刘伟 郑晓雯 张兰胜 刘福新 吴淼

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
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
Yao Haifeng, . Study on numerical solution of wrist offset Pieper robot for mining with prismatic link based on new method[J]. Journal of Mining Science and Technology, 2020, 5(6): 672-680. doi: 10.19606/j.cnki.jmst.2020.06.010
Citation: Yao Haifeng, . Study on numerical solution of wrist offset Pieper robot for mining with prismatic link based on new method[J]. Journal of Mining Science and Technology, 2020, 5(6): 672-680. doi: 10.19606/j.cnki.jmst.2020.06.010

矿用腕部偏置伸缩型Pieper机器人新算法数值解研究

doi: 10.19606/j.cnki.jmst.2020.06.010
详细信息
    作者简介:

    姚海峰(1983—),男,河北石家庄人,博士研究生,工程师,主要从事机器人理论与矿山机器人应用等领域的研究工作。Tel:0311-85538728,E-mail:284195856@qq.com

Study on numerical solution of wrist offset Pieper robot for mining with prismatic link based on new method

  • 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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  • 刊出日期:  2020-12-31

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