[1]郑亚青.大型造船门式绳牵引并联起重机器人的机构设计与运动学位置逆解分析[J].华侨大学学报(自然科学版),2009,30(4):366-370.[doi:10.11830/ISSN.1000-5013.2009.04.0366]
　ZHENG Ya-qing.Mechanism Design and Analysis of Inverse Pose Kinematics Problem of a Large-Sized Wire-Driven Parallel Gantry Crane Robot for Shipyards[J].Journal of Huaqiao University(Natural Science),2009,30(4):366-370.[doi:10.11830/ISSN.1000-5013.2009.04.0366]
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大型造船门式绳牵引并联起重机器人的机构设计与运动学位置逆解分析()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第30卷
期数:
2009年第4期
页码:
366-370
栏目:
出版日期:
2009-07-20

文章信息/Info

Title:
Mechanism Design and Analysis of Inverse Pose Kinematics Problem of a Large-Sized Wire-Driven Parallel Gantry Crane Robot for Shipyards
文章编号:
1000-5013(2009)04-0366-05
作者:
郑亚青
华侨大学机电及自动化学院
Author(s):
ZHENG Ya-qing
College of Mechanical Engineering and Automation, Huaqiao University, Quanzhou 362021, China
关键词:
欠约束;  门式起重机;  绳牵引;  并联机器人
Keywords:
incompletely restrained;  gantry crane;  wire-driven;  parallel robot
分类号:
TH213.502.2
DOI:
10.11830/ISSN.1000-5013.2009.04.0366
文献标志码:
A
摘要:
针对大型造船门式起重机存在的翻身作业不灵活、机械结构复杂等缺陷,将3根绳牵引的欠约束绳牵引并联机器人技术引入到对大型造船门式起重机的改造中,提出大型造船门式绳牵引并联起重机器人的概念.参照现有大型造船门式起重机的基本参数,按照1∶50的比例,对该机器人的机构参数进行配置,详细分析其广义运动学位置逆解问题并给出计算方法.实例仿真表明,该机器人能实现6自由度的吊运任务.
Abstract:
The concept of a large-sized wire-driven parallel gantry crane robot for shipyards is presented when a 6 degree-of-freedom incompletely restrained parallel mechanism(IRPM) with 3 wires is introduced to large-sized gantry cranes for shipyards to overcome the disadvantages of the current large-sized gantry cranes such as the dull trajectory for turn-over operation and complicated mechanical structure.According to the basic parameters of current large-sized gantry cranes for shipyards,the mechanism configuration of the large-sized wire-driven parallel gantry crane robot for shipyards is given.The inverse pose kinematics problem is analyzed in detail and the computation method is given,and the case study has shown that the robot can realize 6-degree-of-freedom motion for handling task.

参考文献/References:

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备注/Memo

备注/Memo:
国家自然科学基金资助项目(50805054); 国家自然科学基金国际(地区)合作与交流项目(50910157)
更新日期/Last Update: 2014-03-23