利用虚拟螺纹接头自动设计串联机构

Atsushi Takata
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引用次数: 0

摘要

这里提出了一种串联机构的自动设计方法。该方法可输出关节的所有运动学参数、位置、方向、数量和关节类型(外旋关节或棱柱关节)。已有多项研究仅针对所需路径的关节位置和方向进行了优化。然而,由于运动学的复杂性,自动确定关节的数量和类型需要过多的计算时间。为了应对繁重的计算,我们引入了基于螺旋轴和指数乘积公式的虚拟螺旋关节(VSJ)。螺旋关节的优点是既能旋转又能平移。首先,额外的关节被优化为 VSJ。然后,采用其位置和方向,并选择一个反卷关节或棱柱关节,从而促进有效的设计过程。为了证明这项研究的有效性,我们采用了相关工作中的两个任务运动作为目标路径。因此,所提出的方法能自动生成包含反卷关节和棱柱关节的串行连杆机构,并能沿着所需的路径运行。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Automatic Design of Serial Linkage Using Virtual Screw Joint
Here, an automatic design method for a serial link mechanism is proposed. This method outputs all kinematic parameters of joints, position, orientation, number, and type of joint (revolute or prismatic). Several studies have been conducted on optimizing only the positions and directions of joints for a desired path. However, automatically determining the numbers and types of joints requires an excessive calculation time owing to the complicity of kinematics. To handle heavy computation, a virtual screw joint (VSJ) is introduced based on a screw axis and the product of exponentials formula. Screw joints have the advantage of including both rotation and translation. First, an additional joint is optimized as a VSJ. Then, adopting its position and orientation and selecting a revolute or prismatic joint facilitate an efficient design process. To demonstrate the effectiveness of this study, two task motions addressed in a related work are adopted as target paths. Consequently, the proposed method automatically generates serial linkages that contain both revolute and prismatic joints and can follow along desired paths.
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