捡拾机器人机械手运动学分析与仿真  

Kinematics Analysis and Simulation for the Pickup Robot Manipulator

作　　者：周海波[1,2] 张忠党 刘振忠[1,2] 陈睿 于恒彬[1,2] ZHOU Haibo;ZHANG Zhongdang;LIU Zhenzhong;CHEN Rui;YU Hengbin(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology),Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《机床与液压》2018年第23期23-28,34,共7页Machine Tool & Hydraulics

基　　金：天津市自然科学基金重点项目(17JCZDJC30400);天津市科技重大专项与工程计划项目(16ZXZNGX00090)

摘　　要：为解决训练场高尔夫球、网球、乒乓球等小球类物体捡拾问题,设计一种五自由度捡拾机器人机械手结构。采用D-H法建立机械手坐标系和参数表,推导出末端坐标系位姿模型,并求解出运动学逆解。运用正运动学分析求解机械手工作空间,证实其空间满足小球类物体目标工作区域。在ADAMS环境中完成虚拟样机的建立,选定目标捡拾点和放置点,根据逆运动学求解结果,对各关节设置相应驱动函数,进行实例仿真验证。结果表明:机械手活动范围在工作空间内,运动规律合理,逆运动学求解正确,能够完成小球类物体捡拾任务。In order to solve the problem of picking up golf ball,tennis,table tennis and other small ball objects in the training ground,a kind of 5-DOF pickup robot manipulator was designed.D-H method was used to establish the coordinate system and parameter table of the manipulator.The posture model of the manipulator’s end coordinate system was derived and the robot inverse kinematics was solved.The forward kinematics was used to analyze the working space of the manipulator.It is confirmed that the working space satisfies the target area of the ball object.The virtual prototype was established and the picking position and setting position of target were selected.According to the inverse kinematics solution,corresponding drive function was set for each joint to perform simulation verification.The results show that the manipulator works in the working space,motion law is reasonable,the inverse kinematics solution is correct,and it can complete ball-picking tasks.

关 键 词：捡拾机器人 机械手 运动学分析 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]