基于旋量法的飞机表面清洗机器人运动学分析.pdf

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1、机床与液压Mar．2014HydromechatronicsEngineeringVo1．42No．6DOI：10．3969／j．issn．1001—3881．2014．06．011KinematicsanalysisofcleaningrobotforaircraftsurfacesbasedonscrewtheoryYu—yangJIN，Ming—luZHANG，Qing-jiGAO，ChangduanYUSchoolofMechanicalEngineering，HebeiUniversityofTe

2、chnology，Tianjin300130，Chin0；RoboticsInstitute，CivilAviationUniversityofChina，Tianfin300300，ChinaAbstract：Focusingon5-DOFcleaningrobotforaircraftsudaces，thescrewtheowandexponen．tialsformulaareusedfortheforwardkinematicssolutionofrobot．Andtheconfigurationof

3、theend·e竹ectorrelativetoinertialcoordinateframewasobtained．Besides．Jacobianmatrixoffor．wardkinematicsisobtainedbythetwists，whichestablishesabasisofsingularityofmechanism．futurereal—timecontrol，andmanipulability．Keywords：Robot，Jacobian，Kinematics，Screwtheow

4、，Exponentialformula．matrix．Literature[5]calculatedthecharacteristics1．Introductionoftherehabilitationrobot’sJacobianmatrixofthero—botbyusingscrewtheory．Thispaperbuiltkinemat—D—HmethodandscrewtheorymethodareusedicsandJacobianmatrixbyapplyingscrewtheory．toso

5、lvethekinematicsforarobot．D．Hmethodisrelativelymatureandwildlyusedinanalysisofkine．2．Theconstructionofkinematicscoordi-maticsforrobots．Thescrewtheorymethodonlynatesforaircraftcleaningrobotneedstobuildtwocoordinateframes，whichhasacleargeometricmeaning．Liter

6、ature[1]presentedaThroughtheanalysisofworkingenvironmentandkinematicsparametercalibrationmethodforserialro．workingprocessf0raircraftsurfacecleaningrobot．botsbasedontheproductofexponential(POE)for．mechanismshouldhavelargeworkspaceandhighmula．Alinearizedmode

7、ldescribingtherelationshipstiffness．Therefore，therobotshouldhavetheopti—betweentheerrorsintheend．effectorandtheerrorsmalworkspace，dexterityandobstacleavoidanceintheointtwists，andinthezeropositiontwistisspacetomeettargetsduringoperation．Accordingtoobtainedb

8、ydifferentiatingthekinematicsequation．thefunctionalrequirementsofcleaningaircraft，theLiteratureI2lgavetheresultofinversekinematicsbyfivedegreeoffreedomrobotconsistsoffourrotaryusingthecombinedmethodofalgebrai