3 r o b o t k i n e m a t i c s- ira a. fulton collegeof engineering（3 r o b o t k我n e m t c s - ira a·富尔顿collegeof工程）（21页）.docVIP

ROBOT KINEMATICS Purpose: The purpose of this chapter is to introduce you to robot kinematics, and the concepts related to both open and closed kinematics chains. Forward kinematics is distinguished from inverse kinematics. Kinematics Chains Mechanisms can be configured as kinematics chains. The chain is closed when the ground link begins and ends the chain; otherwise, it is open. Serial robots The manipulator of a serial robot is, in general, an open kinematics chain. The joints must be controlled individually. Figure 3-1 Set of serial links connected by joints Assuming binary pair joints (joints supporting 2 links), the degrees-of-freedom (F) of a mechanism is governed by the equation F = ? (n - 1) - (3.1) where F = mechanism degrees-of-freedom n = number of mechanism links j = number of mechanism joints ci = number of constraints imposed by joint i fi = degrees-of-freedom permitted by joint i ji = number of joints with i degrees-of-freedom ? = degrees-of-freedom in space in which mechanism functions It is also true that ? = ci + fi (3.2) which leads to Grublers Citerion: F = ? (n - j - 1) - (3.3) Example - 6-axis revolute robot(ABB IRB 4400): Using (3.1) and referencing Figure 3-2: F = 6 (7 - 1) - 6 (5) = 6 as expected Note: that the degrees-of-freedom of the robot equals the number of moving links, which equals the number of joints. To specify a unique manipulator configuration, each joint must be controlled. Example - 3 axis revolute planar robot: Using (3.1) and referencing Figure 3-3: F = 3 (3 - 1) - 2 (2) = 2 Why isnt the answer 3? Redundant degrees-of-freedom Grublers Criterion is valid as long as there are no redundant joints. A redundant joint is one that is unnecessary because other joints can provide the needed position and/or orientation (see last 3 joints on IRB 4400). Redundant joints can generate passive degrees-of-freedom, which must be subtracted from Grublers eq