基于构形平面的水下机械臂运动学求解方法  

Kinematics Solution Approach for Underwater Manipulator Based on Configuration Plane

作　　者：魏延辉[1] 陈巍[1] 杨子扬 于园园 韩寒[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《机械与电子》2016年第3期3-8,共6页Machinery & Electronics

基　　金：国家自然科学基金(51205074);国家科学技术部国际科技合作项目(2014DFR10010);中央高校基本科研业务费(HEUCF041505);高等学校博士学科点专项科研基金(20112304120007)

摘　　要：基于构形平面的运动学方法,推导出一种解决水下机械臂的运动学求解方法。首先研究了空间机械臂的常见空间关节形式,通过简化建立了统一形式的运动学表达形式。然后介绍了构形平面方法的基本原理和方法,并对构形中多角度连接模块进行了建模。对设计的水下机械臂进行简略介绍,建立其运动学模型,采用构形平面方法详细推导了水下机械臂的运动学求解过程,最后进行实例仿真,验证方法的有效性。Based on the kinematics method of configuration plane,this paper proposes an approach to solve the kinematics problem of underwater manipulator.Firstly,the common joint forms of manipulator are studied and a unified expression form is established by simplification.Secondly,the basic principles and method of the configuration plane are introduced.Then the multi-angle connection module of the configuration is modeled.Thirdly,a brief introduction of the designed underwater manipulator is shown and its kinematics model is built as well.Then the detailed kinematics solution of underwater manipulator is derived by applying the configuration plane method.Finally,this approach is proved to be effective through the practical simulation experiment.

关 键 词：水下机械臂 构形平面 运动学建模 逆运动学 多角度连接模块 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]