Generalized Kinematics Analysis of Hybrid Mechanisms Based on Screw Theory and Lie Groups Lie Algebras

Chinese Journal of Mechanical Engineering

Wentao Zhu¹  Peng Sun¹  Bo Chen¹  Yanbiao Li¹  Ke Chen¹  Qi Zhong² 

[1] College of Mechanical Engineering, Zhejiang University of Technology, 310023, Hangzhou, China;College of Mechanical Engineering, Zhejiang University of Technology, 310023, Hangzhou, China;State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University, 310027, Hangzhou, China;

关键词: Hybrid mechanism;    Screw theory;    Lie groups Lie algebras;    Kinematics analysis;    Humanoid robotic arm;   

DOI  :  10.1186/s10033-021-00610-2

来源: Springer

【 摘 要 】

Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms, and the generalized analysis method and concise kinematics transfer matrix are obtained. In this study, first, according to the kinematics analysis of serial mechanisms, the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors. Then, based on the standard ideas of Lie operations, the method for kinematics analysis of parallel mechanisms is derived, and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form. Then, according to the mapping relationship between the parallel joints and corresponding equivalent series joints, a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined. A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example. The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.

【 授权许可】

CC BY