Kinematics Modeling of Bow-shaped Five-link Robot Based on Screw Theory
The traditional D-H parameter method adopts the method of establishing a local coordinate system,and there is a problem of increasing roots when solving the inverse solution in the process of kinematics modeling.Therefore,this paper establishes the kinematics mathematical model of the arched five-bar linkage by the screw theory method,compares the kinematics model of the end effector established by the D-H parameter method,proves the equivalence between the two methods,and establishes the speed model of the arched five-bar linkage robot based on the screw theory.ADAMS software is used to simulate the motion of the arched five-link robot.The angular velocity curve is compared with the MATLAB theoretical curve.The results show the correctness and effectiveness of the screw theory modeling method.
NETL
NSTL
万方数据
维普
