现代制造工程Issue(4)：27-32,6.
新型六自由度服务机器人的结构设计与运动学分析
Structural design and kinematics analysis on a new service robot with six degrees of freedom
摘要
Abstract
A new type service robot arm of six Degrees of Freedom (DOF) is designed.The new robot has the advantages of par-tial decoupling structure which can assure real-time inverse kinematics solving .The Denabit-Hartenberg ( D-H) method was used to conduct a model.The Denabit-Hartenberg (D-H) method is used to conduct a kinematic model and the forward kinematics problem is solved .According to the structural characteristic of this robot ,a new geometry method was proposed to solve the inverse kinematics problem for simplicity .The analytical solution of the inverse kinematics and the endpoint are acquired by transforming the space geometric relationships .The expression of the endpoint is exactly the same with that of the forward kinematics ,which confirms theoryly the correctness of the geometry method .Through numerical calculation ,the accuracy of the forward kinematics model and the inverse solution was verified ,which provides a theoretical basis for the robot in the future path planning and motion control.关键词
服务机器人/部分解耦/正逆运动学/几何法Key words
service robot/partial decoupling/forward and inverse kinematics/geometry method分类
机械制造引用本文复制引用
姚兴田,徐丹,张磊,帅立国..新型六自由度服务机器人的结构设计与运动学分析[J].现代制造工程,2015,(4):27-32,6.基金项目
江苏省自然科学基金项目（BK20131205）；2012江苏省“青蓝工程”优秀青年骨干教师培养对象项目；南通市应用研究计划项目 （）
