六自由度模块化机械臂腕部工作空间量化对比分析  

Quantitative comparative analysis of workspace for six degrees of freedom modular manipulator

作　　者：李宪华[1] 张雷刚[1] 疏杨[1] 宋韬 张军[1] Li Xianhua Zhang Leigang Shu Yang Song Tao Zhang Jun(School of Mechanical Engineering, Anhui University of Science ＆ Technology, Huainan Anhui 232001, China Shanghai Key Laboratory of Intelligent Manufacturing ＆ Robotics, Shanghai 200444, China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]上海市智能制造及机器人重点实验室,上海200444

出　　处：《计算机应用研究》2017年第9期2666-2669,共4页Application Research of Computers

基　　金：国家"863"计划资助项目(2007AA041604);安徽高校自然科学研究重点项目(KJ2016A200)

摘　　要：针对六自由度模块化机械臂的两种不同构型,对其工作空间进行了量化对比分析。采用DH法进行了手臂结构建模,得到正运动学模型;基于MATLAB机器人工具箱搭建了两种构型手臂的仿真平台,运用蒙特卡洛法求解两种构型手臂的工作空间,并采用可视化方法得到其工作空间的点云图;结合计算机辅助设计软件绘制两种手臂构型的3D工作空间,采用SLI指标对两种手臂构型的工作空间进行量化处理分析;最后通过对比两种手臂构型的工作空间点云图、3D工作空间实体和SLI指标性能分析了两种构型手臂的优劣,为后续的模块化机械臂的结构参数优化和空间灵活性研究奠定了基础。Aimed at two different structures configuration of modular manipulator, this paper completed the quantitative comparison analysis of its workspace. Firstly, it derived the kinematics model by using the DH method. Secondly, it built the simulation platform of two different conformation arm based on the robotics toolbox in MATLAB, then solved the workspace of the two arm configuration by applying Monte Carlo method and acquired the point cloud of its workspace by using visual approach. Thirdly, it plotted the 3D workspace of two arm configuration by means of combining computer-aided design soft- ware, then analyzed and handled the workspace of two arm configuration quantitatively using SLI index. Lastly,it analyzed the advantages and disadvantages of the two arm configurations by comparing the point cloud of the workspace, the 3D solid workspace and the SLI performance index of two arm configurations, it lays a foundation for subsequent optimization of structure parameters and spatial flexibility research of modular manipulator.

关 键 词：模块化机械臂 robotics工具箱 蒙特卡洛法 工作空间 SLI指标 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]