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机器人工作中的安全性有很大的一部分决定于机器人本身的一些性质,因此对于机构固有的性质进行分析,找到其不安全的因素加以避免,就提高机器人工作的安全性。少自由度并联机构中很多不安全因素是由于机构的奇异位形引起的,机构的奇异位形又与机构的雅可比矩阵有密切的关系,为了使机构处于安全的工作状态就要对机构的雅可比矩阵进行分析。论文中的五自由度机构,其雅可比矩阵不是方阵,不能够利用以前的矢量方法计算其雅可比矩阵,因此,笔者采用螺旋理论分析了机构反螺旋及雅克比矩阵。通过其相应的雅可比矩阵分析了机构可能出现奇异的位置,从而使机构可以实现安全的工作。
A great part of the safety of the robot’s work depends on some properties of the robot itself. Therefore, analyzing the intrinsic properties of the robot and finding its unsafe factors to be avoided will improve the safety of the robot’s work. Many unsafe factors in a less-degree-of-freedom parallel mechanism are caused by the singularities of the mechanism. The singularities of the mechanism are closely related to the Jacobian matrix of the mechanism. For the mechanism to be in a safe working state, Jacobian matrix analysis. The five degrees of freedom mechanism in the paper, the Jacobian matrix is not a square, can not be calculated using the previous vector method of its Jacobian matrix, therefore, the author uses the spiral theory of the mechanism of anti-spiral and Jacobi matrix. Through its corresponding Jacobian matrix, it is possible to analyze the possible strange positions of the mechanism so that the mechanism can achieve safe work.