﻿ 带有螺旋副空间四杆机构运动学建模方法

# 带有螺旋副空间四杆机构运动学建模方法Kinematic Modeling Method of Four-Bar Mechanism with Screw Pair

Abstract: In this paper, kinematic modeling of the robot with a screw pair (H) has been studied. Irregular terrain of the screw pair (H) mobile robot kinematics modeling method—Chebyshev shortening algorithm has been put forward. Based on the analysis of kinematic analysis of spatial linkage mechanism with a screw pair (H), the vector expression of the position and attitude equation of the mechanism has been established. Taking the space HSSH mechanism as an example, the motion analysis has been carried out. According to the established vector equation of HSSH establish motion analysis model of closed loop, motion analysis equations and vector operation are adopted to eliminate intermediate variables by using the Chebyshev polynomials of sine and cosine transformation degree, thus solving degree; Chebyshev approximation method can provide approximate solutions to screw pair (H) of spatial mechanism kinematics problem by measuring means of error. This paper presents the method and the process of Chebyshev shortening algorithm and analyzes the characteristics of the Chebyshev shortening algorithm. The correctness of the proposed modeling method has been verified through experimental studies and simulations.

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