计算机工程与应用2017，Vol.53Issue(4)：45-50,6.DOI:10.3778/j.issn.1002-8331.1506-0117
钢丝绳传动机器人运动学的支路分析方法
Branch analysis method for kinematics of steel cable-driven robot
摘要
Abstract
Kinematics of a kind of N degrees of freedom robot driven by N+1 steel cables is researched and analyzed in this paper. The kinematic analysis can be accomplished by two steps which is derivation of a kinematic relationship between joint space and Cartesian space of open-loop chain robot, and a kinematic relationship between joint space and motor-driven space. Branch analysis method using branch matrix and equivalent radius matrix representation for kinematics of steel cable-driven robot is put forward on the basis of kinematic analysis with fundamental circuit, coaxiality condition and transmission lines. Branch matrix and effect radius matrix in motor-driven space can be written and the mapping rela-tionship can be got by observation method according to the schematic of steel cable transmission, which realizes the motion decoupling existing joints of steel cable-driven robot. The full kinematic mapping relationships among motor actuator space, joint space, and Cartesian space are accomplished, which speeds up and simplifies the kinematic modeling and analysis process of steel cable-driven robot. Finally, the kinematic analysis of the Stanford/JPL finger validates that branch analysis method using branch matrix and equivalent radius matrix representation for kinematics of steel cable-driven robot. The analysis method lays the foundation for design, kinematic analysis and motion control of cable-driven mechanism.关键词
钢丝绳传动/运动学/支路矩阵/等效半径矩阵/支路分析方法Key words
steel cable-driven/kinematics/branch matrix/equivalent radius matrix/branch analysis method分类
信息技术与安全科学引用本文复制引用
桑宏强,陈发,刘芬,杨铖浩,许丽萍..钢丝绳传动机器人运动学的支路分析方法[J].计算机工程与应用,2017,53(4):45-50,6.基金项目
国家自然科学基金青年基金资助项目(No.51205287). （No.51205287）
