六自由度重载装配机械手运动学分析及求解  

Kinematics Analysis and Solution of Heavy Manipulator with 6-DOF

作　　者：罗天洪[1] 熊小辉[1] 

机构地区：[1]重庆交通大学机电与汽车工程学院,重庆400074

出　　处：《重庆交通大学学报（自然科学版）》2009年第6期1126-1130,共5页Journal of Chongqing Jiaotong University(Natural Science)

基　　金：中国博士后基金项目(20070420714);博士点基金新教师基金项目(200806111035)

摘　　要：针对汽车装配生产线作业对重载高精度的自动设备的需求,设计了一种液压驱动的六自由度多功能重载装配机械手。运用Denavi-Hartenberg(D-H)方法构建了机械手的运动学模型,分析了重载装配机械手的工作原理和正、逆运动学求解方法。从机械手的正、逆运动学方程的求解结果可以看出,采用液压方式实现对机械手6个自由度的驱动,具有驱动力大、操作简单、安装准确的特点,可适应多种汽车重载装配的需要。Aiming at the high precision demand for the heavy load automobile equipment assembly line, a multifunction manipulator with 6-DOF is designed,which is driven by hydraulic pressure. The kinematics model of the manipulator is established by Denavi-Hartenberg（D-H） method, at the same time ,the working principles ,forward and inverse kinematics solution of the heavy load manipulator assembly are analyzed. According to the solutions of manipulator＇s forward and inverse kinematics equations, the drive of the manipulator with 6-DOF is realized by adopting the hydraulic method, which has many merits, such as the greatness of drive power, the simplicity of operatiom and the accuracy of installation. The proposed manipulator assembly is adapt to various kinds of automobile assemblies.

关 键 词：装配机械手 Denavit—Hartenberg(D—H)法 运动学分析 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]