Geometric Design of 3R Robot Manipulators for Reaching Four End-Effector Spatial Poses
Geometric Design of 3R Robot Manipulators for Reaching Four End-Effector Spatial Poses
复制标题
用于达到四个末端执行器空间位姿的 3R 机器人机械臂的几何设计
DOI：
10.1177/0278364904039653
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
C. Mavroidis
中科院分区：
文献类型：
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作者：
Eric Lee;C. Mavroidis
本文用多项式连续法解决了具有三个回转关节的串联机器人的四精确点几何设计问题。在每个精确点，定义末端效应器的空间位置。计算了3R机械手的几何参数的尺寸，以便机械手的末端执行器能够到达这四个预先指定的位置。用Denavit和Hartenberg参数和4×4齐次矩阵来描述问题，得到设计方程。其中三个设计参数被设置为自由选择，并且它们的值可以任意选择。考虑了自由选择的两种不同情况，并用多项式同伦延拓方法求解了它们的设计方程。在自由选择的两种情况下，都找到了36个不同的机械手，其末端执行器可以到达四个指定的空间位置和方向。
In this paper, the four-precision-point geometric design problem of serial-link robot manipulators with three revolute joints is solved using a polynomial continuation method. At each precision point, the end-effector spatial locations are defined. The dimensions of the geometric parameters of the 3R manipulator are computed so that the manipulator’s end-effector will be able to reach these four pre-specified locations. Denavit and Hartenberg parameters and 4 × 4 homogeneous matrices are used to formulate the problem and obtain the design equations. Three of the design parameters are set as free choices and their values are selected arbitrarily. Two different cases for selecting the free choices are considered and their design equations are solved using polynomial homotopy continuation. In both cases for free choice selection, 36 distinct manipulators are found, the end-effectors of which can reach the four specified spatial positions and orientations.