空间5R排爆机械臂运动学及联动策略研究  

Study on Kinematics and Linkage Strategy of Space 5R Explosive Ordnance Disposal Manipulator

作　　者：郭光明 张伟军[1] 冯家波[1] 王少伟 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机电一体化》2017年第8期16-22,共7页Mechatronics

摘　　要：根据自主研发的五自由度(DOF)排爆机械臂的结构特点和运动学约束,对机械臂的运动学进行分析,建立五自由度机械手臂正、逆运动学方程,准确快捷地求出了运动学方程封闭解析解,给出了机器人运动构件与末端执行器在空间的位姿关系;并求出其雅可比矩阵,通过速度仿真验证了机械臂联动策略,提高了排爆机械臂的操作效率和排爆作业精细程度。The kinematics of the manipulator was analyzed according to the structural characteristics and kinematic constraint aimed at the developed 5 degree-of-freedom explosive ordnance disposal （EOD） manipulator. The kinematics and inverse kinematics equations of the 5 - DOF manipulator were established based on this coordinate system. The inverse kinematics equation＇s analytical solution was calculated fast and precisely. The positions of its moving elements and end-effectors with their relationship were presented. Then the Jacobian matrix was solved. Finally, the linkage strategy of the manipulator is verified by velocity simulation and improves the operational efficiency of the EOD robot and the precision of EOD operation.

关 键 词：D-H法 雅可比矩阵 速度控制 联动策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]