六自由度机械臂的设计与轨迹规划研究  

Research on Design and Trajectory Planning of Six Degrees of Freedom Manipulator

作　　者：李琳琳 寇子明[1,2,3] 吴娟 Li Linlin;Kou Ziming;Wu Juan(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Shanxi Province Mineral Fluid Controlling Engineering Laboratory,Taiyuan 030024,China;National-local Joint Engineering Laboratory of Mining Fluid Control,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械工程学院,太原030024 [2]山西省矿山流体控制工程实验室,太原030024 [3]矿山流体控制国家地方联合工程实验室,太原030024

出　　处：《煤矿机械》2019年第8期43-46,共4页Coal Mine Machinery

基　　金：2018年山西省研究生教育改革研究(2018JG23)

摘　　要：针对机械臂应用过程中,实际工况对机械臂在空间位姿的任意性、重复性和稳定性提出更高的要求,设计了六自由度机械臂并对其进行了轨迹规划。利用三次多项式插值法和五次多项式插值法进行了关节角轨迹规划效果对比,得出机械臂在笛卡尔空间的运动轨迹。研究结果表明,采用五次多项式插值法完成轨迹规划后的机械臂运动平稳且振动较小,机械臂机械结构设计合理,几何参数正确,具有较高的应用价值。In the application process of the manipulator,the actual working conditions put forward higher requirements on the arbitrariness,repeatability and stability of the manipulator in the space pose.The six degree of freedom manipulator was designed and trajectory planning was carried out.The joint angle was calculated by cubic polynomial interpolation and fifth order polynomial interpolation,the trajectory planning effect was compared,and the trajectory of the manipulator in Cartesian space was obtained.The research results show that the fifth-order polynomial interpolation method was used to complete the trajectory planning,and the manipulator movement was stable and the vibration was small,and the mechanical structure design of the manipulator was reasonable,the geometric parameters were correct,and it had high application value.

关 键 词：六自由度 机械臂 轨迹规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]