| 关节型模块化机器人构型及运动学研究 |
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| 引用本文： | 赵广志,王洪光,刘玉旺. 关节型模块化机器人构型及运动学研究[J]. 机械设计与制造, 2010, 0(4) |
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| 作者姓名： | 赵广志 王洪光 刘玉旺 |
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| 作者单位： | 1. 中国科学院,沈阳自动化研究所机器人学国家重点实验室,沈阳,110016;中国科学院,研究生院,北京,100039
2. 中国科学院,沈阳自动化研究所机器人学国家重点实验室,沈阳,110016 |
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| 基金项目： | 国家863计划资助项目(2007AA041703) |
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| 摘 要： | 分析了模块化机器人模块划分与重构的关系,总结了模块的划分原则。对关节型机器人进行了模块化分,建立了含有五种单元模块的模块库,并对其可实现构型进行了拓扑分析。提出了一种新的坐标系建立方法,基于旋量理论和指数积公式推导出了每个单元模块的变换矩阵,得出了适用于关节型机器人构型变化的正运动学方程。最后通过实例验证了拓扑构型分析及运动学算法的正确性。
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| 关 键 词： | 机器人 模块化 拓扑构型 运动学 |
Research on configuration and kinematics of joint modular robots |
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| ZHAO Guang-zhi,WANG Hong-guang,LIU Yu-wang. Research on configuration and kinematics of joint modular robots[J]. Machinery Design & Manufacture, 2010, 0(4) |
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| Authors: | ZHAO Guang-zhi WANG Hong-guang LIU Yu-wang |
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| Affiliation: | 1State Key Laboratory of robotics/a>;Shenyang Institute of Automation/a>;Chinese Academy of Sciences/a>;Shenyang 110016/a>;China;2Graduate School/a>;Beijing 100039/a>;China |
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| Abstract: | It the relation of division and reconfiguration of modular robots is studied. The principle to divide the modules is summarized. Five modules are designed and the topological structure are studied. A new method to establish the axis is studied,and based on the screw theory,a geometrics modeling method by means of product of exponentials formula is employed. Then the forward kinematics regardless of configurations is generated. The program of example shows the algorithm is effective. |
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| Keywords: | Robot Modular Topological configuration Kinematic |
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