Kinematic performance analysis method of irregular RPR, RP and PR type mechanical arm connecting rod coordinate systems

A technology of coordinate system and analysis method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to analyze kinematic performance

Active Publication Date: 2016-01-20
CHINA GEZHOUBA GRP YIPULI CO LTD
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Problems solved by technology

[0003] However, due to the special purpose of construction machinery, the design of the connecting rod is often unique and irregular. The irregularity here refers to the situation where the R-type joint point is not in the axial direction of the P-type when the connecting rod includes R-P

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  • Kinematic performance analysis method of irregular RPR, RP and PR type mechanical arm connecting rod coordinate systems
  • Kinematic performance analysis method of irregular RPR, RP and PR type mechanical arm connecting rod coordinate systems
  • Kinematic performance analysis method of irregular RPR, RP and PR type mechanical arm connecting rod coordinate systems

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Embodiment Construction

[0042] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0043] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or two The internal communication of each element may be directly connected or indirectly connected through an intermediary. Those skilled in the art can understand the specific meanings of the above terms according to specific situations.

[0044] The present ...

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Abstract

The invention provides a kinematic performance analysis method of irregular RPR, RP and PR type mechanical arm connecting rod coordinate systems. The kinematic performance analysis method includes the specific steps of distinguishing rotating rod pieces and stretchable rod pieces in irregular mechanical arm connecting rods; determining rotating points and rotating axes of the rotating rod pieces and stretchable points and stretchable axes of the stretchable rod pieces, and establishing coordinate systems of all the rotating points and all the stretchable points; obtaining auxiliary articulation points, and establishing coordinate systems of the auxiliary articulation points; constructing D-H matrix parameters of the auxiliary articulation points; deducing translational transformation matrixes and rotating transformation matrixes; correspondingly substituting the D-H matrix parameters of the auxiliary articulation points into the translational transformation matrixes and the rotating transformation matrixes, and obtaining transformational matrixes of the irregular mechanical arm connecting rods; and inserting the obtained transformational matrixes into coordinate systems of front-and-back regular connecting rods corresponding to the irregular mechanical arm connecting rods. The method is simple and effective, modeling of the irregular mechanical arm connecting rod coordinate systems can be rapidly and accurately completed, and kinematic analysis becomes possible.

Description

technical field [0001] The invention relates to the technical field of link coordinate system modeling, in particular to a method for analyzing the kinematics performance of the link coordinate system of irregular RPR, RP and PR manipulators. Background technique [0002] At present, when establishing the coordinate transformation equation, a series of coordinate systems are established on the joints connecting the connecting rods, and the relative position and direction between these coordinates are described by the second coordinate transformation, so that the kinematic equation of the robot can be established. One of the most commonly used is the D-H parameter method. It can be seen that the D-H parameter method is suitable for the establishment of a coordinate system of the standard manipulator link structure, making its kinematic analysis possible. [0003] However, due to the special purpose of construction machinery, the design of the connecting rod is often unique a...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J9/02
Inventor 黎勇安振伟张小勇陈曦周宇周桂松陈小平周厚贵徐志强
Owner CHINA GEZHOUBA GRP YIPULI CO LTD
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