基于蒙特卡洛法的水力破拆机械臂工作空间分析  

Working Space Analysis of Concrete Hydraulic Dismantling Manipulator Based on Monte Carlo Method

作　　者：彭见辉 赵天婵[1] 殷素峰[1] 刘文洁 PENG Jian-hui;ZHAO Tian-chan;YIN Su-feng;LIU Wen-jie(City College of Dongguan University of Technology,Dongguan523419,China)

机构地区：[1]东莞理工学院城市学院,广东东莞523419

出　　处：《机电工程技术》2018年第4期47-49,151,共4页Mechanical & Electrical Engineering Technology

基　　金：广东省重点培育学科项目(粤教科函(2017)45号文件);东莞理工学院城市学院青年教师发展基金项目(编号:2016QJY002Z)

摘　　要：以D-H法则建立了各连杆运动学方程,在Robotics Toolbox中仿真了机械臂从初始位姿至水平破拆位姿的过程,验证了D-H参数及运动学方程的正确性,并在MATLAB中以蒙特卡洛法完成了对喷枪工作空间的求解,得到了喷枪的工作空间及横向、纵向、最大作业深度等主要参数,为机械臂的运动控制和轨迹规划提供了理论基础。Using D-H rule established the connecting rod coordinate system of the manipulator.In the robotics toolbox,the motion of the manipulator from the initial position to the horizontal dismantle position is simulated,which verified the correctness of the D-H parameter and the kinematics equation.According to the derived kinematics equation,the working space of the manipulator is solved by Monte Carlo method in MATLAB.The working space of the gun and the main parameters such as horizontal,vertical and maximum working depth are obtained.The reference basis is provided for manipulator trajectory planning and motion control.

关 键 词：机械臂 工作空间 蒙特卡洛法 MATLAB 

分 类 号：TH16[机械工程—机械制造及自动化]