Kinematic Model Analysis of an 8-DOF Photographic Robot

被引：2
|
作者：
Xie, Xiaowei [1 ]
Miao, Xingang [1 ]
Wang, Su [1 ]
Zhang, Feng [2 ]
机构：
[1] Beijing Univ Civil Engn & Architecture, Beijing Key Lab Robot Bion & Funct Res, Beijing, Peoples R China
[2] China Petr Pipeline Res Inst, Langfang, Hebei, Peoples R China
来源：
TRANSACTIONS ON INTELLIGENT WELDING MANUFACTURING, VOL I, NO. 2 2017 | 2018年 / 1卷 / 02期
关键词：
Photographic robot; Kinematics analysis; DH model 6-parameter model;
D O I：
10.1007/978-981-10-7043-3_15
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The photographic robot studied in this chapter is an 8-DOF PRRPR-S type. In order to obtain a stable and repeatable lens shooting trajectory, it is necessary to balance the robot's own weight and structural rigidity. First, based on the structural analysis of the photographic robot, the main parameters of the mechanism design are extracted. Then, with the help of the photographic robot calibration, the kinematics model of the robot is established. The DH model is applied on the first seven axes of the photographic robot. The 6-parameter model is used on the end actuator attitude adjustment rotation axis. Finally, the motion of each axis is simulated in MATLAB, which verifies the kinematic model.
引用
收藏
页码：191 / 198
页数：8
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