A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions

P. Wenger; D. Chablat; M. Baili

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A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions

机译：3D正交机械手具有四个不同的逆运动学解的基于DH参数的条件

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Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with two and four IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting condition is explicit and states that the last link length of the manipulator must be greater than a quantity that depends on three of its remaining DH parameters. This result is of interest for the design of new manipulators.

机译：定位3R机械手可能具有两个或四个逆运动学解决方案（IKS）。本文推导了具有正交关节轴的3R定位机械手具有四个不同的IKS的充要条件。我们表明，具有两个和四个IKS的机械手之间的过渡是由具有反向运动学四倍根的机械手集合定义的。结果条件是明确的，并指出操纵器的最后一个链接长度必须大于依赖于其剩余DH参数中的三个的数量。该结果对于新型机械手的设计很有意义。

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《Journal of Mechanical Design》 |2005年第1期|p.150-155|共6页
作者
P. Wenger; D. Chablat; M. Baili;
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Institut de Recherche en Communications et Cybernetique de Nantes, UMR CNRS 6597, 1, rue de la Noee, BP 92101, 44312 Nantes Cedex 03, France;

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正文语种 eng
中图分类机械设计;
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7. A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions [O] . Wenger Philippe, Chablat Damien, Baili Maher 2005

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A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions

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