一自由度有理机构的正运动学、逆运动学和运动规划

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-05-28 DOI:10.1016/j.mechmachtheory.2025.106074

Daniel Huczala , Andreas Mair , Tomas Postulka

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引用次数: 0

摘要

提出了一套处理单自由度理性单回路机构轨迹规划的算法。利用有理运动的对偶四元数表示，给出了正（正）运动学公式、数值逆运动学算法以及驱动关节轨迹的生成。提出了一种利用高斯-牛顿搜索求解单参数运动学逆问题的新方法。此外，还提供了一种通过弧长再参数化实现工具平滑等距移动的方法。这种一般方法可以应用于具有四到七个关节的单自由度机构，其特征是有理运动，无需任何额外的几何分析。通过实验验证了该方法在实验室中的应用。

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Direct kinematics, inverse kinematics, and motion planning of 1-DoF rational linkages

This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct (forward) kinematics, a numerical inverse kinematics algorithm, and the generation of a driving-joint trajectory are provided. A novel approach using the Gauss–Newton search for the one-parameter inverse kinematics problem is presented. Additionally, a method for performing smooth equidistant travel of the tool is provided by applying arc-length reparameterization. This general approach can be applied to one-DoF mechanisms with four to seven joints characterized by a rational motion, without any additional geometrical analysis. An experiment was performed to demonstrate the usage in a laboratory setup.

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry