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

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 a...

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Main Authors:	Yong-Bin Li, Tie-Jun Li, Hui-Fang Zhu, Dong Yang, Ya-Jun Chen, Wen-Ming Zhang, Jian-Ming Liu, Tian Zhang
Format:	Article
Language:	English
Published:	Hindawi Limited 2021-01-01
Series:	Mathematical Problems in Engineering
Online Access:	http://dx.doi.org/10.1155/2021/6694621

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spelling	doaj-12d4d718481e4db697543316544dd9972021-02-15T12:53:08ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472021-01-01202110.1155/2021/66946216694621Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw TheoryYong-Bin Li0Tie-Jun Li1Hui-Fang Zhu2Dong Yang3Ya-Jun Chen4Wen-Ming Zhang5Jian-Ming Liu6Tian Zhang7School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaShijiazhuang Campus of PLA Army Infantry Academy, Shijiazhuang, Hebei 050227, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaLingyun Industrial Corporation Limited, Zhuozhou 072750, ChinaThe 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.http://dx.doi.org/10.1155/2021/6694621
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Yong-Bin Li Tie-Jun Li Hui-Fang Zhu Dong Yang Ya-Jun Chen Wen-Ming Zhang Jian-Ming Liu Tian Zhang
spellingShingle	Yong-Bin Li Tie-Jun Li Hui-Fang Zhu Dong Yang Ya-Jun Chen Wen-Ming Zhang Jian-Ming Liu Tian Zhang Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory Mathematical Problems in Engineering
author_facet	Yong-Bin Li Tie-Jun Li Hui-Fang Zhu Dong Yang Ya-Jun Chen Wen-Ming Zhang Jian-Ming Liu Tian Zhang
author_sort	Yong-Bin Li
title	Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory
title_short	Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory
title_full	Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory
title_fullStr	Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory
title_full_unstemmed	Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory
title_sort	comparative analysis of the kinematics solution based on the dh method and screw theory
publisher	Hindawi Limited
series	Mathematical Problems in Engineering
issn	1024-123X 1563-5147
publishDate	2021-01-01
description	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.
url	http://dx.doi.org/10.1155/2021/6694621
work_keys_str_mv	AT yongbinli comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT tiejunli comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT huifangzhu comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT dongyang comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT yajunchen comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT wenmingzhang comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT jianmingliu comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory AT tianzhang comparativeanalysisofthekinematicssolutionbasedonthedhmethodandscrewtheory
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Comparative Analysis of the Kinematics Solution Based on the DH Method and Screw Theory

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