[1]于兰,郑亚青.3种构型的6自由度绳牵引门式起重机器人的运动学位置逆解分析[J].华侨大学学报(自然科学版),2012,33(2):125-128.[doi:10.11830/ISSN.1000-5013.2012.02.0125]
　YU Lan,ZHENG Ya-qing.Analysis of Inverse Pose Kinematics for 3 6-DOF Wire-Driven Crane Robots with Different Mechanism Configurations[J].Journal of Huaqiao University(Natural Science),2012,33(2):125-128.[doi:10.11830/ISSN.1000-5013.2012.02.0125]
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3种构型的6自由度绳牵引门式起重机器人的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33卷
期数:
2012年第2期
页码:
125-128
栏目:
出版日期:
2012-03-20

文章信息/Info

Title:
Analysis of Inverse Pose Kinematics for 3 6-DOF Wire-Driven Crane Robots with Different Mechanism Configurations
文章编号:
1000-5013(2012)02-0125-04
作者:
于兰; 郑亚青
华侨大学机电及自动化学院
Author(s):
YU Lan;  ZHENG Ya-qing
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China
关键词:
绳牵引;  起重机器人;  欠约束;  位置逆解
Keywords:
wire-driven;  crane robot;  under-constrained;  inverse pose
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.2012.02.0125
文献标志码:
A
摘要:
借助Matlab软件,通过运动学逆解分析3种不同构型配置的6自由度起重机器人机构的运动学欠约束问题.研究结果表明:对3根绳牵引的6自由度起重机器人机构构型的改进中,3根主梁互相平行的机构是运动学位置逆解欠约束的,而其他两种机构的约束是充分的,改进的机构不都是运动学约束充分的.
Abstract:
The problem about kinematical under-constraint of the mechanisms of 6-DOF crane robots with 3 different kinds of mechanism configurations is investigated by analysis of their generalized inverse pose kinematics using the Matlab software.The research results have shown that among the improved mechanisms of 6-DOF crane robots with 3 wires,the mechanism with the 3 rails in parallel is kinematically underconstrained,while the constraint of the other kinds of mechanisms is enough; not all of the improved mechanisms have enough kinematical constraints.

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备注/Memo

备注/Memo:
国家自然科学基金资助项目(50805054); 中国博士后科研基金面上资助项目(20090450721)
更新日期/Last Update: 2014-03-23