带电作业机器人的机械臂设计  

Design of Robot Arms for Live Working Robot

作　　者：张宏达[1] ZHANG Hongda(Electromechanical Information Insititue,Baoji Vocational Technology College,Baoji 721013)

机构地区：[1]宝鸡职业技术学院机电信息学院,宝鸡721013

出　　处：《微型电脑应用》2018年第11期70-72,共3页Microcomputer Applications

摘　　要：针对带电作业中存在的高风险,引入智能机器人进行带电作业,以降低传统带电作业的危险。对此,提出基于无碰撞搜索方法的机械臂。为实现无碰撞的机械臂,首先构建机械臂运动学模型,然后通过构建C空间方法,将甲臂和乙臂之间的运动看成为一个无碰撞问题,在固定甲臂运动路径的前提下,搜索乙臂的无碰撞空间,只要在该空间内,乙臂都可运动,进而促进两臂的协调和无碰撞控制。最后通过ADMAS软件仿真,对上述方法进行了验证,结果表明具有可行性。In view of the high risk in live working,combined with the development of intelligent robot,a coordinated control strategy of robot arms based on collision free search method is proposed.To validate the feasibility of the project,a manipulator kinematics model is firstly constructed,then,through the construction of C space method,coordinate control of A and B two arms is treated as the collision problem.The A arm motion is firstly determined,and the motion space of arm B is searched with non-collision requirement,the coordinated control of the arms can be completed.Finally,the above method is verified by ADMAS software simulation,and the results show that it is feasible.

关 键 词：机械臂 C空间法 无碰撞搜索 D-H建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]