六自由度排爆机器人操作臂运动学分析  

Kinematics Analysis of Six-DOF Bomb Disposal Robot Manipulators

作　　者：聂伟[1] 赵雁[2] 贾小刚[2] 

机构地区：[1]武警工程学院研究生大队,陕西西安710086 [2]武警工程学院装备运输系,陕西西安710086

出　　处：《现代机械》2009年第1期45-47,共3页Modern Machinery

摘　　要：排爆机器人作为代替人进入危险环境,完成排除爆炸物、危险物销毁的任务,研究其操作臂的运动学方程,有助于研究机构合理性,对于排爆机器人任务完成具有推进意义。文章以一种六自由度排爆机器人操作臂为基础,对其运动学问题进行研究。以D-H法来确定操作臂的各个设计参数,确定合适转换矩阵,目标矩阵和运动学方程。通过Maple强大的矩阵运算功能对运动学进行求解,并通过Matlab对结果进行验证。Bomb Disposal Robot is always used as a substitute for men to enter dangerous environment, to disposal explosives and destruct the hazardous material. The research of kinematics equation of manipulators can promote to task the rationality of its structure, this can be helpful to Robot to complete the mission. This paper based on a Six-DOF Bomb Disposal Robot Manipulators. Study the kinematics problems of it. Confirm the parameters of Manipulators through D-H theory, then we ean gain the conversion matrix ,target matrix and kinematics equation, Then we can solve the problems by Maple depending on its excellent capability for solving matrix. At last we can validate the result through Matlab.

关 键 词：机器人操作臂 D—H法 运动学 MAPLE Matlab 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]