基于液压马达驱动的6R排爆机械臂结构设计与运动学分析  

Structural Design and Kinematics Analysis of 6R Explosive Manipulator Based on Hydraulic Motor Drive

作　　者：李琳[1,2,3] 吴娟 王松岩[1,2,3] LI Lin;WU Juan;WANG Songyan(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030024,China;Shanxi Province Mineral Fluid Controlling Engineering Laboratory,Taiyuan Shanxi 030024,China;National-local Joint Engineering Laboratory of Mining Fluid Control,Taiyuan Shanxi 030024,China)

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

出　　处：《机床与液压》2019年第23期64-68,共5页Machine Tool & Hydraulics

基　　金：山西省研究生教育创新(2017SY026)

摘　　要：针对液压马达驱动的排爆机械臂在特种环境下工作,根据其工作过程中存在灵活性差、精确度低的问题,提出基于液压马达驱动的六自由度旋转机械臂,满足在复杂工况下的工作要求。通过建立机械臂的D-H坐标系和三维模型,根据D-H坐标系建立原则,理论推导出运动学方程,得出机械臂连杆末端位姿与各关节角度的关系,同时联合MATLAB和Adams进行正运动学和逆运动学仿真,得出各关节角度变化曲线和末端位移变化曲线。结果表明:6R机械臂机械结构设计可靠、运动学理论方程正确,满足机械臂末端的空间坐标(单位为mm)从(-160,410,740)移动到(-502,-160,362)的位置要求。Aiming at the detonating robot arm driven by the hydraulic motor worked in a special environment,according to the problem of poor flexibility and low precision in the working process,a Six Degrees of Freedom(6-DOF)rotating robot arm driven by a hydraulic motor is proposed to meet the working requirements under complicated working conditions.By establishing the D-H coordinate system and the three-dimensional(3D)model of the manipulator,according to the principle of the D-H coordinate system,the kinematics equation was derived from the theory,the relationship between the position of the end of the connecting rod and each angle of the joints could be obtained,and the forward kinematics and inverse kinematics simulation were carried out with MATLAB and Adams united.The varying curve of each joint angle and the curve of the end displacement were obtained.The results show that the mechanical design of the 6R manipulator is reliable and the kinematics theory equation is correct.It can meet the position requirements of the manipulator s end space coordinate from(-160 mm,410 mm,740 mm)to(-502 mm,-160 mm,362 mm).

关 键 词：六自由度 机械臂 运动学 MATLAB ADAMS 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]