Geometry-based kinematic analysis of deflection-jointed manipulator
The irreplaceable role of manipulator with high load to weight ratio is becoming increasingly prominent in manufacturing and service industries.Aiming at the problem above enhancing load-bearing capacity for traditional ma⁃nipulator,this paper proposes a deflection-jointed manipulator and kinematic analysis method.By analysing the influ⁃ence of the angles between the joint axis and adjacent rods on motion characteristics and load-bearing capacity for manip⁃ulator,the arrangement of deflection joint is presented and the deflection-jointed manipulator is designed.With deflec⁃tion-jointed manipulator is abstracted as an equivalent simple tandem mechanism,the motion equation of deflection joint is extracted according to the deflection joint kinematic characteristics.The solution method to end position and posture of manipulator is further established.By decoupling the end position parameters to the distance,height,and turnover an⁃gle parameters,the solution formula of joint angle is established sequentially,and all the analytical solutions of inverse kinematics for deflection-jointed manipulator are obtained.The simulation results of deflection-jointed manipulator veri⁃fy the feasibility and accuracy of kinematic solution method.
manipulatordeflection jointkinematics analysisposition and posture
万方数据
维普
