轻质采样机械臂设计与分析  

The Design and Analysis of Lightweight Sampling Mechanical Arm

作　　者：陈引生[1] 崔勇[1] 刘蕴青[1] 王燕[1] 

机构地区：[1]江苏农牧科技职业学院机电工程系,江苏泰州225300

出　　处：《科技创新导报》2015年第4期12-14,共3页Science and Technology Innovation Herald

摘　　要：土壤采样机械臂是深空着落探测器进行采样探测的必要机构。根据深空探测的环境要求,设计出满足结构强度的高可靠性的轻质机械采样臂,采用一个旋转关节和两个移动关节组成三自由度方案。对移动关节和旋转关节进行设计,对采样加热组件进行设计。对采样机械臂系统作运动学分析,采用D-H法建立系统运动模型,设置各关节坐标系,推导出各坐标系之间的坐标变换矩阵以及坐标向量矩阵,得到运动学正解和运动学逆解方程,为后续的分析及研究做准备。Soil sampling mechanical arm was the necessary institutions for deep landing space detector.According to the requirement of deep space environment,designed a lightweight mechanical sampling arm with high strength and high reliability using a three degree of freedom-plan with one rotary joints and two moving joints.Designed the rotary joints and the moving joints,designed the heating component. Analyzed the mechanical sampling arm’s kinematics.Established the motion model using D-H method,set the coordinate system of every joints,deduced the transformation matrix and coordinate vector matrix Between each coordinate system,deduced the forward kinematics and the inverse kinematics equation preparing for the subsequent analysis.

关 键 词：采样机械臂 D-H坐标 运动学正解 运动学逆解 

分 类 号：TH11[机械工程—机械设计及理论]