基于D-H法的串联机械手臂工作空间分析  

Workspace Analysis of Serial Robot Manipulator Based on D-H Method

作　　者：李瑞霞[1] 李粉霞[2] 杨洁明[3] 周晋阳[1] 

机构地区：[1]长治医学院生物医学工程系,山西长治046000 [2]山西机电职业技术学院数控工程系,山西长治046011 [3]太原理工大学机械电子研究所,山西太原030024

出　　处：《机床与液压》2015年第21期70-73,152,共5页Machine Tool & Hydraulics

基　　金：2012年山西省高等学校科技研究开发项目(20121135)

摘　　要：以六自由度串联机械手臂为研究对象,对机械手臂的基本结构进行简化,基于D-H法,建立机器人手臂的连体坐标系,进而得到该机构的运动学正解模型;采用蒙特卡洛法对其工作空间进行了初步研究,并借助数学软件Matlab绘制了其工作空间,得到该机构手臂末端的工作空间云点图以及截面形状。研究结果表明:该机构具有较大的工作空间,可以用于水果采摘和农林作业。Taking 6DOF serial manipulator as the research object,the basic structure of the mechanical arm was simplified. The coordinates of the robot arm were established based on the D-H method,and then the kinematics mathematical mode of the positive solution was deduced. Monte Carlo method was preliminary studied in the workspace,and its workspace was drawn with the help of the software Matlab. Simultaneously,the cloud points of the manipulator in the workspace was got,the cross-section shape as well. The result shows that this mechanism has a larger workspace,which can be used for fruit picking and forestry operations.

关 键 词：D-H法 蒙特卡洛 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]