Supercharge Your Innovation With Domain-Expert AI Agents!

A Formal Analysis Method of Manipulator Kinematics

An analysis method and a technology of a manipulator, applied in the field of manipulators, can solve problems such as complex calculations and inaccurate results

Active Publication Date: 2016-08-17
CAPITAL NORMAL UNIVERSITY
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a formal analysis method of mechanical arm kinematics to solve the problems of complex calculation and inaccurate results in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Formal Analysis Method of Manipulator Kinematics
  • A Formal Analysis Method of Manipulator Kinematics
  • A Formal Analysis Method of Manipulator Kinematics

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0102] In this embodiment, the formalized analysis method of the kinematics of the manipulator in this application is specifically described by taking a plane 3-DOF manipulator as an example.

[0103] like figure 1 The D-H parameters of the shown planar 3-DOF manipulator are shown in Table 1:

[0104] Table 1 D-H parameters of the planar 3-DOF manipulator

[0105] joint

α i

a i

d i

θ i

1

0

a 1

a 1

θ 1

2

0

a 2

a 2

θ 2

3

0

a 3

a 3

θ 3

[0106] In Table 1, α i Indicates the torsion angle between the rotation axes of each revolving pair, a i Indicates the offset distance (connecting rod length) between two adjacent revolving pairs, d i Indicates the distance between the vertical feet of the common normal between the rotation axes of two adjacent revolving pairs, θ i Indicates the angle of rotation of the revolving joint.

[0107] Determine the screw coordinates of each rotary ...

Embodiment 2

[0163] In this embodiment, a singular configuration of a 6R robot is used for judgment

[0164] image 3 It shows a state diagram of a 6R robot in a singular configuration, in which the black-marked rotary joint is in a singular configuration, and the mechanism has the following special parameters:

[0165] joint

z i

θ i

d i

1

(0,0,1) T

any angle

1

2

(0,1,0) T

0

1

3

(0,0,1) T

any angle

1

4

Take any

any angle

1

5

Take any

any angle

1

6

Take any

any angle

1

[0166] Table 2 A singular configuration parameter of the 6R robot

[0167] Table 2, z i respectively represent the rotation axes of each joint of the mechanism, θ i Indicates the rotation angle of each joint of the mechanism,

[0168] d i Indicates the connecting rod length.

[0169]

[0170] in, represents the primordial part of the spinor, Represents the even part of the screw, i=1,...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a mechanical arm kinematics formal analysis method. The method comprises the steps of 1, determining structural parameters of a mechanical arm mechanism; 2, using high-order logical language for building a mechanical arm kinematics logical model; 3, using a logical formula for describing kinematics constraints or attributes needing to be verified; 4, enabling the mechanical arm mechanism kinematics logical model and the kinematics constraints or attributes needing to be verified to form a logical proposition; 5, utilizing a logical reasoning engine for proving whether the logical proposition is true or not; if the logical proposition is true, it represents that the model meets the kinematics constraints or have the attributes; if not, it represents that the model does not meet the kinematics constraints or does not have the attributes. According to formal verification, on the basis of system formal specifications or attributes, the correctness of the system is verified by using the mathematical method, and the verified attributes are precise and complete.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a formalized analysis method for the kinematics of a manipulator. Background technique [0002] In recent years, robotic arm technology has entered a period of rapid development. Robots with mechanical arms are widely used in various fields such as industry, scientific investigation, military, emergency rescue, medical treatment and household use. However, it is not uncommon for robots to fail or even have safety accidents when performing tasks. It is recognized that there is a significant gap between the verification technology of the robot and the design technology. A small loophole in the robot design may cause huge economic losses and even endanger personal safety. Therefore, designers must spend a lot of time and energy analyzing and verifying the design in order to find errors in the robot design before the product is formed. [0003] At present, the commonly used ve...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
Inventor 施智平关永吴爱轩李黎明李晓娟王瑞邵振洲张倩颖吴敏华
Owner CAPITAL NORMAL UNIVERSITY
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com