Mechanical arm modeling and solving method based on improvement of multi-body system transfer matrix

A transfer matrix, multi-body system technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as difficult kinematics and dynamics unification
CN104573255AInactive Publication Date: 2015-04-29TIANJIN UNIVERSITY OF TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
TIANJIN UNIVERSITY OF TECHNOLOGY
Publication Date
2015-04-29
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

The invention discloses a mechanical arm modeling and solving method based on improvement of a multi-body system transfer matrix. The method is characterized in that a discrete time transfer matrix method of the multi-rigid-body system is improved according to the structure characteristics of a planar mechanical arm and the relation between motion transfer and force transfer, a unified model of an n-degree-of-freedom series mechanical arm is built, and kinematic and dynamic solving method and process of a system model is provided by setting the boundary condition according to the two acknowledged motion conditions between the joint space and the operation space of the mechanical arm. The method has the advantages of being flexile in modeling, small in calculation scale, capable of covering the kinematic and dynamic characteristics of the system and more effective compared with the traditional robot modeling method, showing the excellence of the new method, and achieving the aims of clear idea, simple programming and achievement easiness.
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Description

technical field

[0001] The invention relates to a modeling method and solving method of a mechanical arm based on an improved multi-body system transfer matrix.

[0002] According to the structural characteristics of the planar manipulator, the relationship between motion transmission and force transmission, the present invention improves the discrete-time transfer matrix method of the multi-rigid body system, and proposes a unified model of n-joint series manipulators that covers system kinematics and dynamics features and its solution The method belongs to the technical field of articulated series robots. Background technique

[0003] With the rapid development of science and technology, robots have been widely used in the fields of industrial automation production, medical treatment, military, semiconductor manufacturing and space exploration. The articulated serial robot is constructed by simulating the upper arm of a human being. It has the advantages of flexible movem...

Claims

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