| 张永德,蒋济雄.弓丝弯制机器人的运动分析与仿真研究[J].高技术通讯(中文),2012,22(7):727~734 |
| 弓丝弯制机器人的运动分析与仿真研究 |
| Kinematics analysis and simulation study of an archwire bending robot |
| 修订日期：2011-05-10 |
| DOI： |
| 中文关键词: 几何理论, 弓丝弯制机器人, 李群李代数, 运动建模, 仿真分析 |
| 英文关键词: geometric theory, archwire bending robot, Lie group and Lie algebras, motion modeling, simulation analysis |
| 基金项目:国家自然科学基金(51075105)资助项目 |
| 作者 | 单位 | | 张永德 | 哈尔滨理工大学智能机械研究所 | | 蒋济雄 | 哈尔滨理工大学智能机械研究所 |
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| 全文下载次数: 2025 |
| 中文摘要: |
| 为了满足弓丝弯制机器人高位姿精度和实时响应的要求，提出从几何理论的角度对弓丝弯制机器人的运动进行分析。通过建立几何空间下的弓丝弯制机器人坐标系，基于李群李代数研究了机器人前3个关节构成的位置方程和后3个关节构成的姿态方程；建立了弓丝弯制机器人的动力学方程，计算出了机器人沿规划出的路径运动所需的力矩。以口腔正畸治疗中用到的矫正弓丝形状为目标，采用基于MATLAB函数的仿真分析方法对机器人的位置关节进行了运动学和动力学仿真。仿真结果显示，模型能够较好地跟踪规划出的末端运动轨迹，并且高效地计算出各关节的运动角度与控制力矩，为进一步开发弓丝弯制机器人运动控制器提供了依据。 |
| 英文摘要: |
| To meet the requirements of high pose accuracy and quick response of an archwire bending robot, a kinematic analysis method based on the geometric theory was proposed. Through establishing the coordinate system in the geometric space of the robot, the position equation consisting of the first three joints and the stance equation composed of the last three joints were studied based on Lie group and Lie algebras. The dynamical equation of the archwire bending robot was established and the torque of the motor was calculated when the robot was moving along a specified path. The kinematics and dynamics simulation model of the position joint of the archwire bending robot was set up based on MATLAB. And then the model was adopted to track a curve of archwire used in orthodontic treatment. The simulation result shows that the trajectory can be traced wonderfully and accurate joint angles and joint torques can be obtained quickly. In addition to that, guidelines were provided to develop the controller for archwire bending robots. |
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