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A Modeling and Solving Method for Manipulator Based on Improved Transfer Matrix of Multibody System

A transfer matrix and multi-body system technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve difficult problems such as kinematics and dynamics unification

Inactive Publication Date: 2017-10-31
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0008] The purpose of the present invention is to solve the problem that the existing methods are difficult to unify the research of kinematics and dynamics in one mathematical description, and use the improved multi-body system discrete time transfer matrix method to establish a unified model of the dynamics of the plane manipulator , and propose an effective numerical solution method for system kinematics and dynamics

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  • A Modeling and Solving Method for Manipulator Based on Improved Transfer Matrix of Multibody System
  • A Modeling and Solving Method for Manipulator Based on Improved Transfer Matrix of Multibody System
  • A Modeling and Solving Method for Manipulator Based on Improved Transfer Matrix of Multibody System

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Embodiment 1

[0065] Embodiment 1, mechanical arm dynamics modeling

[0066] In order to describe in detail the improvement of the multi-body system transfer matrix method of the present invention and its application to the technical method of modeling and solving the dynamics of the manipulator, the following is an example of a two-degree-of-freedom serial manipulator in planar motion. The specific steps are as follows:

[0067] 1. Disassemble the robotic arm system

[0068] Such as figure 1 Shown is a two-degree-of-freedom planar motion manipulator. The rigid body system is decomposed, and the whole manipulator is a chain system composed of four planar rigid body elements with one end input and one end output. In the figure, number 0 represents the base, starting from the base, the first and third rigid bodies represent joints, the second and fourth rigid bodies represent rods, and the number 5 represents the end of the mechanical arm. According to the modeling idea of ​​discrete time t...

Embodiment 2

[0090] Embodiment 2, the solution of model

[0091] For a series multi-joint manipulator, there are two situations according to the kinematics law, one is to solve the terminal information with the known joint motion law, that is, forward kinematics solution; the other is to solve the joint information with the known end point motion law , belongs to the kinematics inverse solution problem. For the overall equation of dynamics of the two-degree-of-freedom manipulator shown in formula (5), the solution to any of the above-mentioned motion situations needs to set the boundary conditions of the overall equation according to the known and unknown conditions, and then through the iteration of the transfer matrix Get the unknown parameters of each state vector. These parameters contain all the information about the position and force of each joint and rod in the manipulator, so the solution of the two motion situations is the superposition of the kinematics problem and the inverse ...

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Abstract

The invention discloses a method for establishing and solving a manipulator model based on an improved multi-body system transfer matrix. According to the structural characteristics, motion transmission and force transmission relationship of the planar manipulator, the present invention improves the discrete-time transfer matrix method of the multi-rigid body system, establishes a unified model of n-degree-of-freedom serial manipulators, and aims at the relationship between the joint space and the operation space of the manipulator. Based on the two known motion conditions between the two, by setting the boundary conditions, the kinematics and dynamics solution method and process of the system model are proposed. The research object of the present invention is a planar serial robot system. The mathematical model established by using the improved method of the multi-body system discrete time transfer matrix not only has the characteristics of flexible modeling and small calculation scale, but also can cover the kinematics and dynamics characteristics of the system at the same time. , which is more effective than the traditional robot modeling method, embodies the superiority of the new method, and achieves the goals of clear thinking, simple programming and easy realization.

Description

technical field [0001] The invention relates to a modeling method and solving method of a mechanical arm based on an improved multi-body system transfer matrix. [0002] According to the structural characteristics of the planar manipulator, the relationship between motion transmission and force transmission, the present invention improves the discrete-time transfer matrix method of the multi-rigid body system, and proposes a unified model of n-joint series manipulators that covers system kinematics and dynamics features and its solution The method belongs to the technical field of articulated series robots. Background technique [0003] With the rapid development of science and technology, robots have been widely used in the fields of industrial automation production, medical treatment, military, semiconductor manufacturing and space exploration. The articulated serial robot is constructed by simulating the upper arm of a human being. It has the advantages of flexible movem...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
Inventor 陈炜李浩郭月
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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