高压特种作业机械手运动学分析及仿真  

Kinematics Analysis and Simulation of High Voltage Special Operation Manipulator

作　　者：张丹丹[1] 

机构地区：[1]内蒙古民族大学机械工程学院,内蒙古通辽028000

出　　处：《机械传动》2012年第9期62-66,共5页Journal of Mechanical Transmission

摘　　要：高压输电线路长时间暴露在外,会产生输电线路故障,需及时发现并维修。为此,设计了高压输电线路维修机械手,并对其运动学进行了分析。设计的机械手自由度为6个,且6个关节均为旋转关节。首先确定机械手的连杆坐标,连杆的D-H参数,使用Matlab来绘制机械手三维模型。运用Robotics Toolbox中的FKINE和IKINE两个函数来求解机械手的运动学的正解问题和逆解问题。The high voltage transmission lines exposed for a long time are often broken down,thus,the manipulator of robot on the high voltage transmission line is designed and the kinematics analysis is carried out.The degrees of freedom of manipulator are six,and all the six joints of the six degrees freedom manipulator are rotary joint.First,the connecting rod coordinates and the connecting rod D-H parameters are determined.The 3D model of manipulator is draw by using Matlab.Using two functions of FKINE and IKINE in the Robotics Toolbox,the positive kinematics analysis and inverse kinematics analysis of the manipulator are solved.

关 键 词：六自由度维修机械手 D-H参数 MATLAB 正运动学分析 逆运动学分析 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TM755[自动化与计算机技术—控制科学与工程]