CN109817078A - A kind of robot D-H parameter and adjacent rod piece coordinate relation demonstration device and its application method - Google Patents
A kind of robot D-H parameter and adjacent rod piece coordinate relation demonstration device and its application method Download PDFInfo
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Abstract
The present invention provides a kind of robot D-H parameter and adjacent rod piece coordinate relation demonstration device and its application method, the device is by two rod pieces and corresponding joint axis, two cross bars, an auxiliary joint shaft, one auxiliary cross bar, a sleeve, bracket are constituted, rod piece parameter rod length, rod piece torsion angle and joint kinematic parameter joint translational movement, joint angle of revolution can be demonstrated, the coordinate transformation relation of two member coordinates can also be demonstrated, two rod pieces can be cradle head connection, be also possible to linear joint connection.The device can make the coordinate relationship between the rotary joint of the convenient observer robot of student, linear joint, D-H parameter, rod piece, to lay the foundation to carry out position, speed, dynamic analysis and control to robot.
Description
Technical field:
The present invention relates to a kind of teaching demonstration device and its application methods, and in particular to the D-H in a kind of robot teaching
Parameter and adjacent rod piece coordinate relation demonstration device and its application method.
Background technique:
The birth of robot technology is the great achievement of 20th century human sciences' technological progress, in the 21st century, robot
Technology and industry have obtained unprecedented development, and sophisticated machine man-based development represents a national Integrate technologies strength and water
It is flat, therefore development robot technology has all been included in national 21 century development in Hi-Tech plan by many countries.In view of robot
The importance of technology, multiple countries including China are all greatly developing robotics education.It imparts knowledge to students in robot technology
In, D-H parameter is most basic most important knowledge point in robotics technology, it is to establish robot coordinate system, to carry out
Robot location, speed, dynamics Controlling basis.Due to establishing robot coordinate system using 4 parameter generations according to D-H parameter
The relationship between Two coordinate system is described for 6 parameters, so that coordinate relationship brings being stranded in student's understandings while simplification
Difficulty, at present due to lacking apparatus for demonstrating, teacher at school when can only be explained on projection screen by schematic diagram, classmates' root
The coordinate relationship that D-H parameter and adjacent rod piece are understood according to Projection Display and the imagination of oneself, due to D-H parameter and rod piece coordinate
It is related to three-dimensional space, only by two dimension signal and the imagination, understands that difficulty is big, teaching process is slow, is also easy to that student is caused to misread, therefore
Need a kind of teaching aid assistance teaching that convenient and efficient can demonstrate D-H parameter and rod piece coordinate relationship.
Summary of the invention:
The present invention provides a kind of robot D-H parameter and rod piece coordinate relation demonstration device and its application method, by two
Rod piece and corresponding joint axis, two cross bars, an auxiliary joint shaft, an auxiliary cross bar, a sleeve, bracket are constituted, can be with
Rod piece parameter rod length, rod piece torsion angle and joint kinematic parameter joint translational movement, joint angle of revolution are demonstrated, can also be demonstrated
The coordinate transformation relation of two member coordinates, two rod pieces can be cradle head connections, be also possible to linear joint connection.It should
Device can make the coordinate relationship between the rotary joint of the convenient observer robot of student, linear joint, D-H parameter, rod piece, from
It and is to carry out position, speed, dynamic analysis and control to robot to lay the foundation.
Realize that technical scheme is as follows:
A kind of robot D-H parameter and coordinate transform apparatus for demonstrating, including the first rod piece 1, the second rod piece 2, rod piece joint
Axis 3, rod piece joint shaft 4, rod piece joint shaft 5, cross bar 6, cross bar 7, joint asessory shaft 8, auxiliary cross bar 9, bracket 10,11 groups of sleeve
At.
First rod piece 1 is fixed, and joint shaft 3 is fixed on the front end joint of the first rod piece 1 over the mount 10, and joint shaft 4 is solid
It being scheduled on the rear end joint of the first rod piece 1, sleeve 11 is gap-matched with joint shaft 4, it is provided with circumferential slot on the left of sleeve, first
Rod piece 1 and sleeve form revolute pair, and sleeve can be made to rotate certain angle around joint shaft 4；It is provided with axial groove on the right side of sleeve 11,
Second rod piece 2 forms prismatic pair by the axial groove and sleeve 11, can make the second rod piece 2 along joint shaft 4 translate it is certain away from
From joint shaft 5 is fixed on the rear end joint of the second rod piece 2.
Joint shaft 3, joint shaft 4, joint shaft 5 mutually coordinate one be 0 Space Angle.
First crossbar 6 respectively with joint shaft 3 and joint shaft 4 is vertical connect, 7 left end of second crossbar and 4 groups of pore-formings of joint shaft
Shaft clearance cooperation, and it is vertical with joint shaft 4, and second crossbar 7 can be with the second rod piece 2 and joint shaft 5 together around 4 turns of joint shaft
It is dynamic, it can also be moved axially along joint shaft 4, second crossbar right end is vertical with joint shaft 5 to be connect.
There is axially directed guide projection in the axial direction in first crossbar 6, guide protrusions extend to the right from left end, until away from the right side
The position of slightly larger than one auxiliary 8 width of joint shaft in end, joint asessory shaft 8 and first crossbar 6 form clearance fit, can lead
It, can be around the first cross when assisting joint shaft 8 to move to right end along the axial movement of first crossbar 6 under to the guiding of protrusion
Bar rotation, it is in the same direction with joint shaft 3 always when joint asessory shaft 8 is along guide protrusions side-to-side movement.Only when joint asessory shaft 8 is sliding
It can just be turned to around first crossbar 6 when to right end in the same direction with joint shaft 4.
There is axial slide in the axial direction on joint shaft 4, upper end and second crossbar junction have circumferential direction circumferentially to turn
Slot, auxiliary cross bar 9 are mounted in the sliding slot of joint shaft 4, can slide along joint shaft 4, when auxiliary cross bar 9 is in sliding slot bottom
When, conllinear with first crossbar 6, when along axial slide sliding, direction is constant, when auxiliary cross bar 9 slides into the turn trough of joint shaft 4
It can be rotated around the axis of joint shaft 4 to conllinear with second crossbar 7 in turn trough when position.
The step of carrying out the demonstration of D-H parameter with shown device are as follows: adjust each section of apparatus for demonstrating to position shown in FIG. 1
It sets, joint asessory shaft 8 slides to left end along guide protrusions and only abuts joint shaft 3, and auxiliary cross bar 9 slides to bottom along the chute and only leans on
First crossbar introduces rod piece parameter by taking the first rod piece as an example.Rod length be first crossbar joint shaft 3 and joint shaft 4 it
Between part length ai, joint asessory shaft 8 at this time with joint shaft 3 in the same direction, along guide protrusions arthrodia asessory shaft 8 to most right
End, as shown in Fig. 2, the angle between joint asessory shaft 8 and joint shaft 4 is rod piece torsion angle α i at this time；If joint is assisted
Axis 8 is further around first crossbar rotation alpha i, then joint asessory shaft and joint shaft 4 are in the same direction, such as Fig. 3；With the first rod piece 1 and the second rod piece 2
Rotation connection for introduce joint kinematic parameter, the length of part between 6 second crossbar 7 of first crossbar of joint shaft 4 is
Joint translational movement di, by auxiliary cross bar 9, upward sliding is coplanar as second crossbar 7 along the chute, as shown in figure 4, auxiliary is horizontal at this time
Angle between bar 9 and second crossbar 7 is joint angle of revolution θ i.
The step of adjacent rod piece coordinate transform of robot is demonstrated is carried out with shown device are as follows:
1. adjusting apparatus for demonstrating each section to position shown in Fig. 1.Coordinate system is established, the foundation of coordinate system i: coordinate origin oiFor
The intersection point of joint shaft 3 and first crossbar 6, ZiAxis is upward along 3 direction of joint shaft, XiDirection along first crossbar 6 to the right, YiIt presses in direction
Right-hand screw rule determines that the direction of joint asessory shaft 8 is also Z at this timeiDirection, the direction of auxiliary cross bar 9 are XiDirection；Coordinate
It is the foundation of i+1: coordinate origin Oi+1For the intersection point of joint shaft 4 and second crossbar 7, Zi+1Axis is upward along 4 direction of joint shaft, Xi+1
Direction along second crossbar 7 to the right, Yi+1Direction is determined by right-hand screw rule；
2. 8 (X of arthrodia asessory shaft to the rightiAxis), until Oi', such as Fig. 2, at this time coordinate system Oi' XiYizi' is by coordinate system
OiXiYiziAlong XiAxis translates aiIt obtains, then by joint asessory shaft 8 around 6 (X of first crossbariAxis) rotation alphaiAngle, such as Fig. 3, at this point,
Assist joint shaft 8 and joint shaft 4 in the same direction, as Zi+1Direction obtains coordinate system Oi' XiYi' Zi+1Coordinate system, coordinate system Oi' XiYi'
Zi+1It is coordinate system Oi' XiYiZi' is around XiAxis rotation alphaiWhat angle obtained；Cross bar 9 will be assisted along 4 upward sliding d of joint shafti, until Oi+1
Place, as shown in figure 4, coordinate system O at this timei+1Xi' Yi ' ' Zi+1It is coordinate system Oi' XiYi' zi+1Along Zi+1Axis translates diIt obtains；Again will
Cross bar 9 is assisted to rotate θ around joint shaft 4iAngle, i.e. X conllinear with second crossbari+1Direction, as shown in figure 5, obtaining coordinate system Oi+ 1Xi+1Yi+1, coordinate system Oi+1Xi+1Yi+1It is coordinate system Oi+1Xi ' Yi' ' Zi+1Around Zi+1Choosing turns θiIt obtains.
3. according to 2. the first member coordinates OiXiYiZiBy being translated along X-axis, is rotated around X-axis, translate along Z axis, rotate about the z axis
O is obtained after four transformationi+1Xi+1Yi+1Zi+1Coordinate system, transformation matrix of coordinates are as follows:
The step of carrying out robot rotary articulation demonstration with described device are as follows: the second rod piece 2 of rotation, due to being opened on the left of sleeve
There is circumferential slot, at this point, sleeve 11, the second rod piece 2, joint shaft 5, second crossbar 7 are rotated around to joint shaft 4 together, joint revolution
Angle θiChange therewith, other three D-H parameter constants, D-H parameter is demonstrated with [0012], and coordinate transform is demonstrated with [0013].
The step of carrying out robot translation joint demonstration with described device are as follows: the second rod piece is relative to the first rod piece along joint
Axis 4 is mobile, can demonstrate with the following method, move up the second rod piece 2, due to being provided with axial groove on the right side of sleeve, at this point, sleeve
11 and first rod piece without relative motion, the second rod piece 2, joint shaft 5, second crossbar 7 are moved along joint shaft 4 together, joint joint
Translational movement diChange therewith, other three D-H parameter constants.Its D-H parameter is demonstrated with [0012], and coordinate transform demonstration is same
[0013]。
The utility model has the advantages that
By the angle of the length of cross bar 6 and joint asessory shaft 8 and joint shaft 4 come demonstration robot D-H ginseng in the present invention
Rod piece parameter in number is drilled by two cross bars along the angle of the distance in 4 direction of joint shaft and auxiliary cross bar 9 and second crossbar 7
Show the joint kinematic parameter in robot D-H parameter, intuitively, conveniently, it is understandable and easily operated.
In the present invention, by arthrodia asessory shaft 8,8 demonstration robot coordinate system of cradle head asessory shaft is along the flat of x-axis
Move and around x-axis rotation, by sliding auxiliary cross bar 9 and rotation auxiliary 9 demonstration robot coordinate system of cross bar along Z axis translation and
Rotation about the z axis keeps the conversion demonstration of adjacent coordinates system, robot simple, intuitive, easily operated.
Make mutually rotate between the first rod piece 1 and sleeve 11 by 11 circumferential slot of sleeve in the present invention, at this time sleeve
11 and second rod piece 2 without relative motion, it may be convenient to cradle head and its Parameters variation in demonstration robot.
Make to axially move between the second rod piece 2 and sleeve 11 by 11 axial groove of sleeve in the present invention, cover at this time
Cylinder 11 and the first rod piece 1 are without relative motion, it may be convenient to linear joint and its Parameters variation in demonstration robot.
Detailed description of the invention:
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is schematic diagram when joint asessory shaft 8 slides into right end along the axis of first crossbar 6.
Fig. 3 is that joint asessory shaft 8 turns to the schematic diagram with joint shaft 4 when in the same direction.
Fig. 4 is schematic diagram when cross bar 9 being assisted to slide into the top position.
Fig. 5 is schematic diagram when cross bar 9 being assisted to turn to conllinear with second crossbar 7.
In figure, the 1, first rod piece, the 2, second rod piece, 3, joint shaft 3,4, joint shaft 4,5, joint shaft 5,6, first crossbar,
7, second crossbar, 8, joint asessory shaft, 9 auxiliary cross bars, 10, bracket, 11, sleeve
Specific embodiment:
The present invention will be further described with reference to the accompanying drawing:
The demonstration of one: D-H parameter of embodiment adjusts each section of apparatus for demonstrating to position shown in FIG. 1, joint auxiliary
Axis 8 slides to left end along guide protrusions and only abuts joint shaft 3, and auxiliary cross bar 9 slides to bottom along the chute and only leans on first crossbar, with
Rod piece parameter is introduced for first rod piece.Rod length is the length of part of the first crossbar between joint shaft 3 and joint shaft 4
Ai is spent, joint asessory shaft 8 is in the same direction with joint shaft 3 at this time, along guide protrusions arthrodia asessory shaft 8 to right end, such as Fig. 2 institute
Show, the angle between joint asessory shaft 8 and joint shaft 4 is rod piece torsion angle α i at this time, if by joint asessory shaft 8 further around first
Cross bar rotation alpha i, then joint asessory shaft and joint shaft 4 are in the same direction, such as Fig. 3.Rotation connection with the first rod piece 1 and the second rod piece 2 is
Example introduces joint kinematic parameter, and the length of part between 6 second crossbar 7 of first crossbar of joint shaft 4 is joint translational movement di,
To assist cross bar 9, upward sliding is coplanar as second crossbar 7 along the chute, as shown in figure 4, auxiliary cross bar 9 and second crossbar 7 at this time
Between angle be joint angle of revolution θ i.
Embodiment two: coordinate transform demonstration
1. adjusting apparatus for demonstrating each section to position shown in Fig. 1.Coordinate system is established, the foundation of coordinate system i: coordinate origin oiFor
The intersection point of joint shaft 3 and first crossbar 6, ZiAxis is upward along 3 direction of joint shaft, XiDirection along first crossbar 6 to the right, YiIt presses in direction
Right-hand screw rule determines that the direction of joint asessory shaft 8 is also Z at this timeiDirection, the direction of auxiliary cross bar 9 are XiDirection；Coordinate
It is the foundation of i+1: coordinate origin Oi+1For the intersection point of joint shaft 4 and second crossbar 7, Zi+1Axis is upward along 4 direction of joint shaft, Xi+1
Direction along second crossbar 7 to the right, Yi+1Direction is determined by right-hand screw rule；
2. 8 (X of arthrodia asessory shaft to the rightiAxis), until Oi', such as Fig. 2, at this time coordinate system Oi' XiYizi' is by coordinate system
OiXiYiziAlong XiAxis translates aiIt obtains, then by joint asessory shaft 8 around 6 (X of first crossbariAxis) rotation alphaiAngle, such as Fig. 3, at this point,
Assist joint shaft 8 and joint shaft 4 in the same direction, as Zi+1Direction obtains coordinate system Oi' XiYi' Zi+1Coordinate system, coordinate system Oi' XiYi'
Zi+1It is coordinate system Oi' XiYiZi' is around XiAxis rotation alphaiWhat angle obtained；Cross bar 9 will be assisted along 4 upward sliding d of joint shafti, until Oi+1
Place, as shown in figure 4, coordinate system O at this timei+1Xi' Yi ' ' Zi+1It is coordinate system Oi' XiYi' zi+1Along Zi+1Axis translates diIt obtains；Again will
Cross bar 9 is assisted to rotate θ around joint shaft 4iAngle, i.e. X conllinear with second crossbari+1Direction, as shown in figure 5, obtaining coordinate system Oi+ 1Xi+1Yi+1, coordinate system Oi+1Xi+1Yi+1It is coordinate system Oi+1Xi ' Yi' ' Zi+1Around Zi+1Choosing turns θiIt obtains.
3. according to 2. the first member coordinates OiXiYiZiBy being translated along X-axis, is rotated around X-axis, translate along Z axis, rotate about the z axis
O is obtained after four transformationi+1Xi+1Yi+1Zi+1Coordinate system, transformation matrix of coordinates are as follows:
Embodiment three, rotary joint demonstration: if adjacent two rod piece of robot is rotary joint, the second rod piece is relative to first
Rod piece is rotated around joint shaft 4, can be demonstrated with the following method, and the second rod piece 2 is rotated, due to being provided with circumferential slot on the left of sleeve, this
When, sleeve 11, the second rod piece 2, joint shaft 5, second crossbar 7 are rotated around to joint shaft 4 together, joint angle of revolution θiBecome therewith
Change, other three D-H parameter constants.
Example IV, the demonstration of translation joint: if adjacent two rod piece of robot is translation joint, the second rod piece is relative to first
Rod piece is moved along joint shaft 4, can be demonstrated with the following method, and the second rod piece 2 is moved up, due to being provided with axial direction on the right side of sleeve
Slot, at this point, sleeve 11 and the first rod piece are without relative motion, the second rod piece 2, joint shaft 5, second crossbar 7 are moved along joint shaft 4 together
It is dynamic, joint joint translational movement diChange therewith, other three D-H parameter constants.
It is specific embodiments of the present invention above, is that technical scheme of the present invention will be further described, cannot be recognized
It is all according to all the changes and improvements made by the present patent application range for for limiting practical range of the invention, it should all still fall within
Within the invention patent covering scope.
Claims (10)
1. the adjacent rod piece coordinate transform apparatus for demonstrating of a kind of robot D-H parameter and robot, including the first rod piece 1, the second bar
Part 2, rod piece joint shaft 3, rod piece joint shaft 4, rod piece joint shaft 5, cross bar 6, cross bar 7, joint asessory shaft 8, auxiliary cross bar 9, branch
Frame 10, sleeve 11 form.
2. the apparatus according to claim 1, it is characterised in that the first rod piece 1 is fixed over the mount 10, and joint shaft 3 is fixed on
On the front end joint of first rod piece 1, joint shaft 4 is fixed on the rear end joint of the first rod piece 1, and sleeve 11 and joint shaft 4 use
Clearance fit, sleeve left side are provided with circumferential slot, and the first rod piece 1 forms revolute pair with sleeve, sleeve can be made to rotate around joint shaft 4
Certain angle；It is provided with axial groove on the right side of sleeve 11, the second rod piece 2 forms prismatic pair by the axial groove and sleeve 11, can be with
The second rod piece 2 is set to translate a certain distance along joint shaft 4, joint shaft 5 is fixed on the rear end joint of the second rod piece 2.
3. the apparatus according to claim 1, it is characterised in that joint shaft 3, joint shaft 4, joint shaft 5, which mutually coordinate one, is not
0 Space Angle.
4. the apparatus according to claim 1, it is characterised in that first crossbar 6 respectively with joint shaft 3 and joint shaft 4 is vertical connects
It connects, 7 left end of second crossbar and joint shaft 4 form hole axle clearance fit, and vertical with joint shaft 4, and second crossbar 7 can be with second
Rod piece 2 and joint shaft 5 are rotated around joint shaft 4 together, can also be moved axially along joint shaft 4, second crossbar right end and joint shaft 5
Vertical connection.
5. the apparatus according to claim 1, it is characterised in that there is in the axial direction axially directed convex in first crossbar 6
It rises, guide protrusions extend to the right from left end, until the position away from slightly larger than one auxiliary 8 width of joint shaft of right end, joint auxiliary
Axis 8 and first crossbar 6 form clearance fit, can work as auxiliary under the guiding of guide protrusions along the axial movement of first crossbar 6
It when joint shaft 8 moves to right end, can be rotated around first crossbar, when joint asessory shaft 8 is along guide protrusions side-to-side movement, always
In the same direction with joint shaft 3, it only can just be turned to around first crossbar 6 when joint asessory shaft 8 slides into right end same with joint shaft 4
To.
6. the apparatus according to claim 1, it is characterised in that have axial slide in the axial direction, upper end on joint shaft 4
There is circumferential turn trough circumferentially with second crossbar junction, auxiliary cross bar 9 is mounted in the sliding slot of joint shaft 4, can be along joint
Axis 4 slides, and when auxiliary cross bar 9 is at sliding slot bottom, conllinear with first crossbar 6, when along axial slide sliding, direction is not
Become, can be rotated around the axis of joint shaft 4 to the in turn trough when assisting cross bar 9 to slide into the turn trough position of joint shaft 4
Two cross bars 7 are conllinear.
7. a kind of robot D-H parameter and coordinate transform apparatus for demonstrating carry out D-H ginseng using device described in claim 1-6
Number demonstration, the specific steps are as follows:
Each section of apparatus for demonstrating is adjusted to position shown in FIG. 1, it is only tight that joint asessory shaft 8 along guide protrusions slides to left end
By joint shaft 3, assists cross bar 9 to slide to bottom along the chute and only lean on first crossbar, rod piece parameter, bar are introduced by taking the first rod piece as an example
Part length is the length ai of part of the first crossbar between joint shaft 3 and joint shaft 4, joint asessory shaft 8 at this time with joint
Axis 3 is in the same direction；Along guide protrusions arthrodia asessory shaft 8 to right end, as shown in Fig. 2, joint asessory shaft 8 and joint shaft 4 at this time
Between angle be rod piece torsion angle α i；If by joint asessory shaft 8 further around first crossbar rotation alpha i, joint asessory shaft and pass
Nodal axisn 4 is in the same direction, such as Fig. 3；Joint kinematic parameter, joint shaft 4 are introduced by taking the rotation connection of the first rod piece 1 and the second rod piece 2 as an example
The length of part is joint translational movement di between 6 second crossbar 7 of first crossbar, will assist the upward sliding along the chute of cross bar 9
It is coplanar as second crossbar 7, as shown in figure 4, assisting the angle between cross bar 9 and second crossbar 7 at this time is joint angle of revolution θ
i。
8. a kind of robot D-H parameter and coordinate transform apparatus for demonstrating utilize right using device described in claim 1-6
It is required that the D-H parameter of the description of method described in 7, carries out the adjacent rod piece coordinate transform demonstration of robot, the specific steps are as follows:
1. adjusting apparatus for demonstrating each section to position shown in Fig. 1, coordinate system is established, the foundation of coordinate system i: coordinate origin oiFor
The intersection point of joint shaft 3 and first crossbar 6, ZiAxis is upward along 3 direction of joint shaft, XiDirection along first crossbar 6 to the right, YiIt presses in direction
Right-hand screw rule determines that the direction of joint asessory shaft 8 is also Z at this timeiDirection, the direction of auxiliary cross bar 9 are XiDirection；Coordinate
It is the foundation of i+1: coordinate origin Oi+1For the intersection point of joint shaft 4 and second crossbar 7, Zi+1Axis is upward along 4 direction of joint shaft, Xi+1
Direction along second crossbar 7 to the right, Yi+1Direction is determined by right-hand screw rule；
2. 8 (X of arthrodia asessory shaft to the rightiAxis), until Oi', such as Fig. 2, at this time coordinate system Oi' XiYizi' is by coordinate system
OiXiYiziAlong XiAxis translates aiIt obtains, then by joint asessory shaft 8 around 6 (X of first crossbariAxis) rotation alphaiAngle, such as Fig. 3, at this point,
Assist joint shaft 8 and joint shaft 4 in the same direction, as Zi+1Direction obtains coordinate system Oi' XiYi' Zi+1Coordinate system, coordinate system Oi' XiYi'
Zi+1It is coordinate system Oi' XiYiZi' is around XiAxis rotation alphaiWhat angle obtained；Cross bar 9 will be assisted along 4 upward sliding d of joint shafti, until Oi+1
Place, as shown in figure 4, coordinate system O at this timei+1Xi' Yi ' ' Zi+1It is coordinate system Oi' XiYi' zi+1Along Zi+1Axis translates diIt obtains；Again will
Cross bar 9 is assisted to rotate θ around joint shaft 4iAngle, i.e. X conllinear with second crossbari+1Direction, as shown in figure 5, obtaining coordinate system Oi+ 1Xi+1Yi+1, coordinate system Oi+1Xi+1Yi+1It is coordinate system Oi+1Xi ' Yi' ' Zi+1Around Zi+1Choosing turns θiIt obtains；
3. according to 2. the first member coordinates OiXiYiZiBy being translated along X-axis, is rotated around X-axis, translated along Z axis, rotate four about the z axis
O is obtained after secondary transformationi+1Xi+1Yi+1Zi+1Coordinate system, transformation matrix of coordinates are as follows:
9. a kind of robot D-H parameter and coordinate transform apparatus for demonstrating carry out robot using device described in claim 1-6
Rotary joint demonstration, the specific steps are as follows:
The second rod piece 2 is rotated, due to being provided with circumferential slot on the left of sleeve, at this point, sleeve 11, the second rod piece 2, joint shaft 5, second are horizontal
Bar 7 is rotated around to joint shaft 4 together, joint angle of revolution θiChange therewith, other three D-H parameter constants, the demonstration of D-H parameter
With claim 7, coordinate transform demenstration method is the same as claim 8.
10. a kind of robot D-H parameter and coordinate transform apparatus for demonstrating carry out machine using device described in claim 1-6
People translates joint demonstration, the specific steps are as follows:
Second rod piece is moved relative to the first rod piece along joint shaft 4, can be demonstrated with the following method, and the second rod piece 2 is moved up,
Due to being provided with axial groove on the right side of sleeve, at this point, sleeve 11 and the first rod piece are without relative motion, the second rod piece 2, joint shaft 5, second
Cross bar 7 is moved along joint shaft 4 together, joint joint translational movement diChange therewith, other three D-H parameter constants, D-H parameter
Demonstration is with claim 7, and coordinate transform demenstration method is the same as claim 8.
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| CN107443370A (en) * | 2017-07-07 | 2017-12-08 | 浙江大学 | A kind of industrial robot reliability calculation method based on quadravalence moments estimation |
| CN108673505A (en) * | 2018-05-28 | 2018-10-19 | 南昌大学 | A kind of mechanical arm tail end precise motion control method |
| CN108724190A (en) * | 2018-06-27 | 2018-11-02 | 西安交通大学 | A kind of industrial robot number twinned system emulation mode and device |
| CN108890648A (en) * | 2018-08-08 | 2018-11-27 | 苏州天准科技股份有限公司 | A kind of method for building up of joint series formula robot kinematics' model |
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