| 采伐联合机机械手运动学分析及雅可比矩阵求解 |
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| 引用本文： | 赵志强,陆怀民,郭秀丽.采伐联合机机械手运动学分析及雅可比矩阵求解[J].林业机械与木工设备,2010,38(2):45-48. |
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| 作者姓名： | 赵志强 陆怀民 郭秀丽 |
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| 作者单位： | 东北林业大学机电学院,黑龙江哈尔滨,150040 |
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| 基金项目： | 国家“十一五”科技支撑计划项目(2006BAD11A15) |
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| 摘 要： | 介绍了采伐联合机的基本结构和工作原理，分析其关节式机械手各杆件之间的位置关系，建立了机械手坐标系统及运动学模型，并求出了运动学正解和逆解。在此基础上推导了雅可比矩阵及笛卡尔空间与关节空间的坐标变换关系，为机械手运动控制系统的设计提供了依据。
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| 关 键 词： | 采伐联合机 机械手 坐标变换 D—H参数 运动学分析 雅可比矩阵 |
Kinematics Analysis and Jacobian Matrix Solution for the Manipulator of a Logging Harvester |
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| ZHAO Zhi-qiang,LU Huai-min,GUO Xiu-li.Kinematics Analysis and Jacobian Matrix Solution for the Manipulator of a Logging Harvester[J].Forestry Machinery & Woodworking Equipment,2010,38(2):45-48. |
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| Authors: | ZHAO Zhi-qiang LU Huai-min GUO Xiu-li |
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| Institution: | College of Mechanical and Electrical Engineering/a>;Northeast Forestry University/a>;Harbin Heilongjiang 150040/a>;China |
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| Abstract: | The basic structure and working principle of a logging harvester are introduced.The location relationship of each link in its articulated manipulator is analyzed,and a coordinate system and a kinematics model are established and the kinematics solution and its inverse solution are worked out,based on which,the Jacobian matrix and the coordinate transformation relations between Cartesian Space and the joint space are deduced,which provides a foundation for the design of the movement control system of a manip... |
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| Keywords: | logging harvester manipulator coordinate transformation D-H parameter kinematics analysisJ acobian matrix |
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