Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory-Reference-Cited by-同舟云学术

Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory

Published:2021-01-30 Issue: Volume:2021 Page:1-13
ISSN:1563-5147
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Li Yong-Bin¹,Li Tie-Jun¹,Zhu Hui-Fang²,Yang Dong¹^ORCID,Chen Ya-Jun¹,Zhang Wen-Ming¹,Liu Jian-Ming¹,Zhang Tian³

Affiliation:

1. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China

2. Shijiazhuang Campus of PLA Army Infantry Academy, Shijiazhuang, Hebei 050227, China

3. Lingyun Industrial Corporation Limited, Zhuozhou 072750, China

Abstract

The premise of analyzing and researching robot technology is to establish a proper mathematical model and then to solve it with kinematics. In this study, a self-developed humanoid hydraulically driven dual-arm robot is taken as the research object, and the DH (Denavit–Hartenberg) parameter method and the rotational exponential formula (POE) are used to solve the kinematics of the robot. The calculation results are verified by simulation. The advantages and disadvantages of the two methods are analyzed. The differences between the two methods are compared. It lays a foundation for other scholars to choose mathematical models when analyzing the mechanism in the future.

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2021/6694621.pdf

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