Kinematics And Dynamics Research Of Robot Manipulators And Its Application Based On Screw Theory

Making robots serving people in a more humanizing way is the internal driving force for the development of society. Robotic technology which is a well combination of various kinds of technologies is the platform realizing the great ideality.The prior problem of the research is establishing the appropriate mathematical model for a robot. The classical homogeneous transformation and D-H parameter description method, which solve the problem with the generalized coordinates, are kinds of macro description method. However, in order to master the essential characteristics of kinematics, the analysis should be start from the micro, local properties. Screw theory and Lie algebra is a kind of suitable method.In this thesis, research has been done with the screw theory to disclose the essential"moving"characteristics. It is effective supplement of the classical methods and has important theoretical and practical significance.First of all, Lie Algebra and Screws are used to describe the kinematic relations of the manipulators. The software Mathematics is used to realize the algorithms building the kinematic relations. Based on the kinematic relations; the thesis also discussed the Jocabian Matrix and the singularity of the manipulators. The above researches all prepare for the structure design.Secondly, screw theory has been used to establish the dynamics model of the robot manipulators. Lagrange method, Newton-Euler method and Kane method have been completely and systematically discussed and compared here. With these methods, same results can be obtained because of their equivalence in physics meaning. But they are different in the computational cost. Among the methods, Newton-Euler approach is most computational efficient with complexity O(n) which follows the linear relationship with degrees of the manipulators. Screw theory could facilitate the development of high-efficient recursive dynamics modeling method, so the screw theory is merged into the methods. Additionally, the dynamics model of the serial manipulators has been continually contributed to the dynamics modeling of the parallel manipulators (four-bar mechanism). One of the major objectives of dynamics modeling is to optimize the control strategy, so the model-based control method has been studied. Also the control simulations have been done to examine the method, with the dynamics analyzing software ADAMS and numerical calculation software Matlab/Simulinks.Thirdly, the process of dynamics modeling has been compared to the Kalman filtering principle. They are analogous. The recursive characteristic are used to develop the modeling method of the dynamics of the serial manipulators. The recursive formulation of the general mass operator and its inverse of the manipulator have been obtained. The results have laid foundation for development of the high-efficiency dynamics modeling and its successive research.