Kinematics Analysis of Sewing Robot based on Double Quaternion
Aiming at the problems of low calculation efficiency and singularity in the traditional D-H method and spinor method for robot kinematics analysis， the kinematics parameters of sewing robot are solved by using double quaternion. The kinematics equations of the sewing robot in double quaternion form...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.010 |
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| author | Xin Yan Liping Ma Xiaohua Wang Nan Wu |
| author_facet | Xin Yan Liping Ma Xiaohua Wang Nan Wu |
| author_sort | Xin Yan |
| collection | DOAJ |
| description | Aiming at the problems of low calculation efficiency and singularity in the traditional D-H method and spinor method for robot kinematics analysis， the kinematics parameters of sewing robot are solved by using double quaternion. The kinematics equations of the sewing robot in double quaternion form are established， and the Dixon resultant is constructed using the elimination method to solve the kinematic parameters. The kinematics simulation is performed in a limited working range. The simulation results show that the method has high computing efficiency， which is about 10% faster than the D-H method， and can provide a theoretical basis for the motion control of the robot textile sewing process. |
| format | Article |
| id | doaj-art-c77c38f9aa4b48da900f8b1f63d01b60 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c77c38f9aa4b48da900f8b1f63d01b602025-01-10T14:55:16ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-10-0144687329791392Kinematics Analysis of Sewing Robot based on Double QuaternionXin YanLiping MaXiaohua WangNan WuAiming at the problems of low calculation efficiency and singularity in the traditional D-H method and spinor method for robot kinematics analysis， the kinematics parameters of sewing robot are solved by using double quaternion. The kinematics equations of the sewing robot in double quaternion form are established， and the Dixon resultant is constructed using the elimination method to solve the kinematic parameters. The kinematics simulation is performed in a limited working range. The simulation results show that the method has high computing efficiency， which is about 10% faster than the D-H method， and can provide a theoretical basis for the motion control of the robot textile sewing process.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.010Quaternion methodDouble quaternion methodDixon eliminationSewing robotKinematicsWorkspace |
| spellingShingle | Xin Yan Liping Ma Xiaohua Wang Nan Wu Kinematics Analysis of Sewing Robot based on Double Quaternion Jixie chuandong Quaternion method Double quaternion method Dixon elimination Sewing robot Kinematics Workspace |
| title | Kinematics Analysis of Sewing Robot based on Double Quaternion |
| title_full | Kinematics Analysis of Sewing Robot based on Double Quaternion |
| title_fullStr | Kinematics Analysis of Sewing Robot based on Double Quaternion |
| title_full_unstemmed | Kinematics Analysis of Sewing Robot based on Double Quaternion |
| title_short | Kinematics Analysis of Sewing Robot based on Double Quaternion |
| title_sort | kinematics analysis of sewing robot based on double quaternion |
| topic | Quaternion method Double quaternion method Dixon elimination Sewing robot Kinematics Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.10.010 |
| work_keys_str_mv | AT xinyan kinematicsanalysisofsewingrobotbasedondoublequaternion AT lipingma kinematicsanalysisofsewingrobotbasedondoublequaternion AT xiaohuawang kinematicsanalysisofsewingrobotbasedondoublequaternion AT nanwu kinematicsanalysisofsewingrobotbasedondoublequaternion |