一种3R1P机械臂的运动学建模及实验分析  

A3R1P Manipulator Modeling Design and Experimental Analysis

作　　者：李峰[1] 岳云 

机构地区：[1]中原工学院信息商务学院 [2]CATERPILLAR(郑州)有限公司,郑州450007

出　　处：《中原工学院学报》2015年第6期27-32,共6页Journal of Zhongyuan University of Technology

基　　金：河南省教育厅重点科技攻关项目(15A460042)

摘　　要：运用D-H方法和运动学原理首次得到了3R1P机械臂的运动方程,建立了3R1P机械臂的运动学模型。通过仿真实验和机械臂的HEBB神经网络控制运行实验验证了系统的稳定性,以及系统建模和HEBB神经网络控制的合理性和有效性,建立了3R1P机械臂的HEBB自适应神经网络系统框图,提出了平稳3R1P机械臂运行的策略,缩短了3R1P机械臂的研发周期。3RIP manipulator kinematics equation is established by using D-H and kinematics theory, and 3R1P manipulator kinematics model is founded. The simulation model and product are tested,through simulation experiments and manipulator HEBB neural network control experiments, and the system stability is verified. By a detailed analysis of their experimental results the rationality and effectiveness of system modeling and HEBB neural network control have been confirmed. The 3R1P mechanical arm HEBB adaptive neural network diagram of the system is got and the strategy of the smooth run about 3RIP mechanical arm is put forward, and 3RIP mechanical arm development cycles is shortened.

关 键 词：D-H方法 3R1P机械臂 运动方程 HEBB神经网络 

分 类 号：TH12[机械工程—机械设计及理论]