D-H坐标系下两栖机器鱼正向运动学分析  

Forward kinematics analysis of amphibious robot-fish in D-H coordinates

作　　者：晁贯良[1] 王卫兵[1] 牛健文[1] 宋金辉 

机构地区：[1]石河子大学机械电气工程学院,石河子832003 [2]包头液压机械有限公司,包头014010

出　　处：《机械设计与制造》2012年第3期211-213,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助(60865004)

摘　　要：应用机器人运动学求解常用方法—D-H法,以自行研制的两栖机器鱼为研究对象,在对机器鱼摆动运动模型简化处理的基础上,建立了机器鱼的机构简图及各个关节坐标参考系,并借助matlab软件求解矩阵,进行典型的正向运动学分析。推导出尾鳍的运动方程,借鉴此方法可以依次求得机器鱼各个关节的位移方程,速度方程,加速度方程。这种方法简化了解析计算,加快了迭代速度;为机器鱼的检验,校准提供依据及为机器鱼做运动仿真提供了运动参考。Based on D-H method, a common means in robot kinematics solving, a mechanism dia- gram and coordinate reference system of each joint is established based on the simplified processing on model of swing movement of robot fish,which is developed by ourselves to be a study object. Then with matlab software matrix is solved in order to study the tabor forward kinematics.The equations of motion for the caudal fin are derived,which is applied to get one by one the displacement equation,the speed equation and the acceleration equation.This method can simplify the analytic computation, accelerate iteration speed, which provides a foundation and a new idea for the verification and correction and provides reference for the Kinematics simulation of the robat fish.

关 键 词：机器鱼 D-H坐标系 位姿运动方程 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]