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A Geometric Projection Method for Forward Kinematics of 4-upu Parallel Robot

A 4-UPU and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unsuitable real-time control and long calculation time, and achieve the effect of unique solution results and improved calculation efficiency

Active Publication Date: 2022-06-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, these optimization algorithms are essentially a process of continuously approaching the real solution, so the calculation takes a long time and is not suitable for real-time control.

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  • A Geometric Projection Method for Forward Kinematics of 4-upu Parallel Robot
  • A Geometric Projection Method for Forward Kinematics of 4-upu Parallel Robot
  • A Geometric Projection Method for Forward Kinematics of 4-upu Parallel Robot

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Embodiment Construction

[0020] Below in conjunction with the accompanying drawings and specific embodiments, the present invention will be further clarified. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. Modifications of equivalent forms all fall within the scope defined by the appended claims of this application.

[0021] The invention discloses a geometric projection solution method for the forward kinematics of a 4-UPU four-degree-of-freedom parallel robot, and for the method, an embodiment provided includes the following steps:

[0022] S1. Establish the base coordinate system O-XYZ of the base ABCD and the moving coordinate system o-xyz of the moving platform abcd, determine the structural parameters of the robot through the base coordinate system and the moving coordinate system, and establish an inverse kinematics model. Among them, A, B, C, and D are the four corner endpoints of the base, r...

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Abstract

The invention discloses a geometric projection solution for the forward kinematics of a 4‑UPU parallel robot, belonging to the field of forward kinematics research of parallel robots. In this method, the base coordinate system and the dynamic coordinate system are established, and the structural parameters of the 4-UPU parallel robot are determined through the base coordinate system and the dynamic coordinate system, and the inverse kinematics model is established. The forward kinematics model of the 4-UPU is decomposed on two projection planes, and the forward kinematics model is obtained by solving the inner angles and side lengths of the quadrilateral. This method transforms the solution of the forward solution model into a plane geometric problem, which effectively improves the calculation efficiency, and the positive solution result is unique in the workspace, and can provide a new positive solution processing method for the real-time control of the 4‑UPU parallel robot motion.

Description

technical field [0001] The invention belongs to the research field of a forward kinematics solution method of a parallel robot, in particular to a geometric projection solution method of the forward kinematics of a 4-UPU four-degree-of-freedom parallel robot. Background technique [0002] The kinematics analysis of the parallel robot includes the forward kinematics problem and the inverse kinematics problem. The definition of the inverse kinematics problem is that the position and attitude information of the moving platform are known, and several independent input motions are solved. The expressions of are independent, can be calculated in parallel, and can be solved quickly. The forward kinematics problem is to solve the position and attitude of the moving platform under known multiple input conditions. Regardless of the six-degree-of-freedom robot or the less-degree-of-freedom robot, the mechanism has a certain degree of coupling phenomenon, which leads to the positive kin...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/1664B25J9/0069
Inventor 李龙吴洪涛王成军
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS