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本文主要内容是探讨多关节机械手的理论性问题,为多关节机械手的研制工作提供有关理论分析和设计方法。近几年来,我们参与研制多关节机械手工作,遇到一系列需要解决的理论问题。如位置分析,位置综合、速度、加速度分析、精度分析等。本文试从位置分析与位置综合方面进行探讨。作者查阅了有关资料,借助于“轴旋转矩阵”[R_(φ,μ)],合理的选择坐标系,提出了解决这类问题较为简便明了的方法。类似的方法亦可推广用于解决速度分析,加速度分析以及精度分析等问题。
The main content of this paper is to discuss the theoretical problem of multi-joint manipulator and to provide theoretical analysis and design method for the development of multi-joint manipulator. In recent years, we have been involved in the development of multi-joint manipulators and have encountered a series of theoretical problems to be solved. Such as position analysis, position synthesis, speed, acceleration analysis, precision analysis. This article tries to discuss from the position analysis and the position synthesis. The author looked up the relevant data and proposed a simple and straightforward solution to this kind of problem with the aid of the “axis rotation matrix” [R_ (φ, μ)] and a reasonable choice of coordinate system. A similar approach can also be extended to solve speed analysis, acceleration analysis and precision analysis and other issues.