六自由度机械臂运动学及工作空间分析  

Analysis of Kinematics and Work Space of 6-D Manipulator

作　　者：孙野[1] 殷凤龙[1] 王香丽[1] 陈忠凯[1] 冯晓[1] 

机构地区：[1]西北核技术研究所,陕西西安710024

出　　处：《机床与液压》2015年第3期76-81,共6页Machine Tool & Hydraulics

摘　　要：建立了一种用于危险作业条件下的六自由度机械臂模型,根据D-H方法建立了其数学模型,并进行正向运动学分析,通过计算和仿真,验证了所建运动学方程的正确性。通过采用蒙特卡洛法分析该机械臂的工作空间,利用Matlab对机械臂工作域进行求解,给出了机械臂末端的工作空间点云图。通过机械臂运动过程中基座的受力分析,结果表明:末端执行器移动速度越快,基座承受的力矩越大;各个关节角速度和末端执行器移动速度对力矩曲线的平稳性影响明显,且基本成正比;在末端执行器位移方向改变处,基座所受力矩最大。A kind of manipulator model of six degrees （6-D） of freedom used for dangerous operations was established. According to the D-H method, its mathematical model was established and kinematics analysis was forwarded. The correctness of built kinematics equation was verified by the calculation and simulation. The working point cloud of manipulator was given by using Matlab to solve work domain of the manipulator and using Monte Carlo method to analyze the work space of manipulator. The force analysis of base in the process of manipulator movement was carried out. The results show that the end effeetor moved faster, the moment of base supported is bigger. It is an obviously effect to the stationary of the joint angle velocity and moving speed of end effector on torque curves, and which is basically direct proportion. The base torque is at largest in the change direction of movement of the end effeetor.

关 键 词：机械臂 运动学分析 工作空间 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]