危险弹药机器人机械手运动学仿真分析  

Simulation and kinematics analysis of a manipulator for removing dangerous shells

作　　者：卞学良[1] 杜清[1] 马振书[2] 李珂[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]石家庄军械技术研究所,石家庄050010

出　　处：《现代制造工程》2010年第6期129-132,共4页Modern Manufacturing Engineering

摘　　要：运用D-H方法建立危险弹药机器人机械手运动学模型;采用蒙特卡罗方法求解机械手末端执行器的位置向量集合;在Matlab环境下,用点云图描绘出机械手工作空间。运用Robotics Toolbox对机械手进行运动学仿真,仿真出机械手末端执行器运动轨迹曲线、关节运动曲线和速度曲线,从而验证参数设计的合理性,也为进一步研究机器人的动力学、轨迹规划打基础。Kinematic model of manipulator for removing dangerous shells was established with D-H method.The collection position vector of the actuator end of the manipulator was solving with Monte Carlo method.Workspace was depicted by point cloud in Matlab.Kinematics of the robot was simulated with the Robotics Toolbox of Matlab.Trajectory curves of the actuator end of the manipulator and curves of joints motion and velocity were obtained,which verify the reasonableness of the design parameters and lay the foundation for the research of robot dynamics and track layout.

关 键 词：机械手 运动学 MATLAB软件 工作空间 仿真分析 

分 类 号：TH113.2[机械工程—机械设计及理论]