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就一般空间机构任意构件运动学参数在线测量问题,提出了激光跟踪方法。在该构件上,选定不共线的3个测量点构成平面内两个互相垂直的向量,按照右手系建立连体基(动系);基于多体系统运动学,得到与该3个测量点绝对坐标动态数据相关的该构件姿态矩阵、角速度和角加速度,以及被测构件上任一点的线位移、线速度和线加速度的求解公式。为串联机器人、并联机器人及至任意空间机构的运动学参数测量和闭环控制提供了理论方法和技术基础。
Aiming at the problem of on-line measurement of kinematic parameters of arbitrary components in a general space agency, a laser tracking method is proposed. In this component, three non-collinear points are selected to form two vectors perpendicular to each other in the plane, and a two-dimensional coordinate system is established according to the right hand system. Based on the multi-body system kinematics, Point pose coordinates, angular velocities and angular accelerations related to the absolute coordinate dynamic data, as well as the formulas for solving the linear displacements, linear velocities and linear accelerations at any point on the component under test. It provides a theoretical method and a technical basis for kinematic parameters measurement and closed-loop control of tandem robot, parallel robot and any space agency.