Full forward kinematics of redundant kinematic hybrid manipulator

Yi Lu; Zhuohong Dai; Peng Wang

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Full forward kinematics of redundant kinematic hybrid manipulator

机译：冗余运动混合机械手的正向运动学

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摘要

A unified recursive mathematic model is established for full forward kinematics analysis of various redundant kinematic hybrid manipulators which are formed by several different parallel manipulators connected in series. In the established model, the relationships between the general input velocity/acceleration and the general output velocity/acceleration are discovered. The Jacobian matrices for mapping the general output velocities to the general input velocity and the Hessian matrices for mapping the general output velocities to the general input acceleration are derived. The unified iteration recursive formulae are derived for solving the general output velocity/acceleration of the end moving platform of the redundant kinematic hybrid manipulator by only giving the general input velocity/acceleration of every parallel manipulator. A 3D model of a novel (4SPS + SPR )+ (4SPS/SP) + 3SPR type hybrid manipulator is constructed and its full forward velocity/acceleration formulae are derived from the established unified recursive mathematic model and are proved to be correct by utilizing a simulation solution of the novel redundant kinematic hybrid manipulator.

机译：建立了统一的递归数学模型，对各种冗余的运动混合动力机械手进行正向运动学分析，这些冗余运动混合动力机械手由几个不同的并联并联机械手组成。在建立的模型中，发现了一般输入速度/加速度和一般输出速度/加速度之间的关系。推导了将总输出速度映射到总输入速度的雅可比矩阵，以及将总输出速度映射到总输入加速度的黑森州矩阵。推导统一迭代递推公式，通过仅给出每个并联机械手的通用输入速度/加速度，即可解决冗余运动混合机械手末端运动平台的通用输出速度/加速度。构造了新型（4SPS + SPR）+（4SPS / SP）+ 3SPR型混合机械手的3D模型，并从建立的统一递归数学模型推导了其完整的正向速度/加速度公式，并通过利用冗余运动混合机器人的仿真解决方案。

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来源
《Applied Mathematical Modelling》 |2018年第10期|134-144|共11页
作者
Yi Lu; Zhuohong Dai; Peng Wang;
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作者单位

College of Mechanical Engineering, Yanshan University,Parallel Robot and Mechatronic System Laboratory of Hebei Province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University;

College of Mechanical Engineering, Yanshan University;

College of Mechanical Engineering, Yanshan University;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类
关键词
Redundant kinematic hybrid manipulator; Unified recursive model; Forward kinematics analysis; Hessian matrix;

机译：冗余运动混合机械手;统一递归模型;正向运动学分析;Hessian矩阵;

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1. Forward Acceleration of Kinematic Limbs for Redundant Serial-Parallel Manipulators [J] . Lu Yi, Chang Zefeng, Ye Nijia Journal of Mechanisms and Robotics: Transactions of the ASME . 2020,第1期

机译：冗余串行机械手的运动肢体前进加速度
2. Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator [J] . Zhang Haiqiang, Fang Hairong, Zhang Dan, International journal of aerospace engineering . 2019,第PTa2期

机译：新型冗余驱动并联机械手的正向运动学和工作区确定
3. Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator [J] . Zhang Haiqiang, Fang Hairong, Zhang Dan, International journal of aerospace engineering . 2019,第PTa2期

机译：前瞻性运动学和工作区的新颖冗余驱动的平行机械手
4. Setup of a Recurrent Neural Network as a Body Model for Solving Inverse and Forward Kinematics as well as Dynamics for a Redundant Manipulator [C] . Malte Schilling International Joint Conference on Neural Networks . 2019

机译：设置递归神经网络作为人体模型以解决反向和正向运动学以及冗余机械手的动力学
5. Kinematic design of redundant robotic manipulators that are optimally fault tolerant. [D] . Ben-Gharbia, Khaled M. 2014

机译：冗余机器人机械手的运动学设计，具有最佳的容错能力。
6. A Repeatable Motion Scheme for Kinematic Control of Redundant Manipulators [O] . Kong Ying, Tang Qingqing, Zhang Ruiyang, 2019

机译：冗余机械手运动学控制的可重复运动方案
7. Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints [O] . Marco Faroni, Manuel Beschi, Nicola Pedrocchi, 2019

机译：任务缩放和运动约束的冗余机械手的预测逆运动学
8. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics. [R] . Unseren, M. A. 1993

机译：利用归一化四元数反馈推导三个闭环运动速度模型的自适应冗余机械手应用于逆运动学。

Full forward kinematics of redundant kinematic hybrid manipulator

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