CAJ | 학술논문

设计了一种新型六自由度服务机器人机械臂，此机械臂采用部分解耦的结构，能在不明显增加体积的情况下，带来逆运动学求解快速的优点。采用D-H（Denabit-Hartenberg）法建模，获得机械臂正运动学模型，进行正运动学求解，并针对其结构特点，提出一种新的几何法来求解逆运动学问题。通过空间几何关系转换，得到逆解解析表达式和末端位置，该末端位置与正解的末端位置表达式完全相同，印证了几何方法理论上的正确性。经过数值计算验证了正运动学模型和逆解的正确性，为机器人接下来的路径规划和运动控制提供了理论基础。
설계료일충신형륙자유도복무궤기인궤계비，차궤계비채용부분해우적결구，능재불명현증가체적적정황하，대래역운동학구해쾌속적우점。채용D-H（Denabit-Hartenberg）법건모，획득궤계비정운동학모형，진행정운동학구해，병침대기결구특점，제출일충신적궤하법래구해역운동학문제。통과공간궤하관계전환，득도역해해석표체식화말단위치，해말단위치여정해적말단위치표체식완전상동，인증료궤하방법이론상적정학성。경과수치계산험증료정운동학모형화역해적정학성，위궤기인접하래적로경규화화운동공제제공료이론기출。
A new type service robot arm of six Degrees of Freedom (DOF) is designed.The new robot has the advantages of par-tial decoupling structure which can assure real-time inverse kinematics solving .The Denabit-Hartenberg ( D-H) method was used to conduct a model.The Denabit-Hartenberg (D-H) method is used to conduct a kinematic model and the forward kinematics problem is solved .According to the structural characteristic of this robot ,a new geometry method was proposed to solve the inverse kinematics problem for simplicity .The analytical solution of the inverse kinematics and the endpoint are acquired by transforming the space geometric relationships .The expression of the endpoint is exactly the same with that of the forward kinematics ,which confirms theoryly the correctness of the geometry method .Through numerical calculation ,the accuracy of the forward kinematics model and the inverse solution was verified ,which provides a theoretical basis for the robot in the future path planning and motion control.