Research on the Novel Method for Inverse Kinematics Analysis of Spatial 6R Serial Manipulators

doi:10.3901/JME.2022.19.001

Abstract

Abstract: In order to cope with the requirements of vector operation and projection operation, in the process of kinematic modeling using the matrix method for the inverse kinematic analysis of spatial 6R serial manipulators, a novel modeling method for the problem is proposed based on the 4D rotational matrix and the double matrix. On the basis of the representations of the 4D rotational matrix and the double matrix of the spatial rigid body transformation, the forward kinematic equations of a spatial 6R serial manipulator are formulated. By variables separation, the 14 inverse kinematic equations are readily obtained from the novel formulation. The 16 sets of solution are the corresponding eigenvalue of the 16-order coefficient matrix by the linear elimination and Sylvester resultant elimination from the fourteen equations. The numerical example and the corresponding 3D configuration based on SolidWorks are provided to verified the correctness. The advantage of the new method lies in that 14 kinematic constraint equations are readily obtained without vector operation and projection operation, and the new method regards the spatial rigid-body translation as the special case of the four-dimensional rotation, and therefore it can deal with revolute, prismatic and cylindrical joint in a uniform matter.

Key words: spatial 6R serial manipulators, inverse kinematic analysis, 4D rotational matrices, double matrices, eigenvalue solution

CLC Number:

TH112

ZHANG Ying, HUANG Qineng, LIAO Qizheng, YANG Xu, WEI Shimin. Research on the Novel Method for Inverse Kinematics Analysis of Spatial 6R Serial Manipulators[J]. Journal of Mechanical Engineering, 2022, 58(19): 1-11.

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