6自由度ckcm机器人末端执行器的运动学分析与工作空间确定

Charles C. Nguyen , Farhad J. Pooran
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引用次数: 63

摘要

为研究太空中NASA硬件的远程机器人装配,本文对一个6自由度机器人末端执行器进行了分析。由于末端执行器需要在有限的工作空间内进行高精度运动,因此选择闭式链机构进行末端执行器的设计。得到了反运动学问题的封闭解,并提出了用牛顿-拉夫逊法求解正运动学问题的迭代过程。通过对末端执行器工作空间的研究,得出了基于连杆约束确定工作空间的一般方法。给出了计算机仿真结果。
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Kinematic analysis and workspace determination of a 6 dof ckcm robot end-effector

This paper presents the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on the link constraints. Computer simulation results are presented.

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