| 基于指数积公式的挖掘机运动学分析 |
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| 引用本文： | 张志文,张大庆,施圣贤,陈勇.基于指数积公式的挖掘机运动学分析[J].现代机械,2005(3):20-22. |
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| 作者姓名： | 张志文 张大庆 施圣贤 陈勇 |
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| 作者单位： | 1. 甘肃省路桥第一公路工程有限公司,甘肃,兰州,730050
2. 中南大学,机电工程学院,湖南,长沙,410083 |
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| 摘 要： | 本文运用了基于旋量理论的指数积方法,推导出挖掘机回转装置、动臂、斗杆、铲斗多杆件组成的串联开链机构的运动学方程,求解雅可比矩阵,并验证该方法的有效性。研究表明,利用指数积与平面几何相结合的方法求挖掘机运动学逆解,无需进行矩阵乘法运算,减少了运算量,更适合进行计算机编程运算;而且利用指数积方法计算挖掘机雅可比矩阵无需对运动学正解映射求微分,并能有效的避免因参数引起的奇异性。
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| 关 键 词： | 挖掘机 指数积 运动学 平面几何 雅可比矩阵 |
| 文章编号： | 1002-6886(2005)03-0020-03 |
| 修稿时间： | 2004年12月3日 |
The Analysis of Excavator Kinematics Based on the Exponential Product Formula |
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| ZHANG Zhi-wen,ZHANG Da-qing,SHI Sheng-xian,CHEN Yong.The Analysis of Excavator Kinematics Based on the Exponential Product Formula[J].Modern Machinery,2005(3):20-22. |
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| Authors: | ZHANG Zhi-wen ZHANG Da-qing SHI Sheng-xian CHEN Yong |
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| Abstract: | In the paper, the exponential product formula based on screw theory is used, by which the kinematics formula and Jaco-bian matrix of serial open-chain manipulators made up of excavator' s swing, boom, arm and bucket are developed, and the validity of the method is confirmed. The research indicates that there is no calculus of matrix multiplication, and less operation quantity during the analysis of inverse kinematics problem by method of exponential integrated with plane geometry; and there is no calculus of differential on forward kinematics mapping and no singularity to calculate jacobian matrix by exponential. |
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| Keywords: | excavator exponential product kinematics plane geometry jacobian matrix |
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