行星采样机械臂的轨迹规划研究  

Research on trajectory planning of manipulator for sampling on planets

作　　者：张冰蔚[1] 戚永康 齐超 申阿强 张鹏[1] ZHANG Bingwei;QI Yongkang;QI Chao;SHEN Aqiang;ZHANG Peng(College of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China)

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003

出　　处：《现代电子技术》2020年第14期114-117,共4页Modern Electronics Technique

基　　金：江苏省青年自然科学基金(BK201713)。

摘　　要：为行星采样机械臂做轨迹规划,先根据D⁃H法建立机械臂的运动学模型,对其进行了笛卡尔空间直线插补和圆弧插补两种轨迹的规划,并在Matlab中进行了运动仿真。然后基于MFC和OpenGL设计一种针对采样机械臂的运动仿真程序。最后结合一种运动控制器进行直线插补和圆弧插补的轨迹规划的实验。实验结果表明,采样机械臂的实际运动轨迹与运动仿真程序中的轨迹一致,对其进行的正、逆运动学分析和轨迹规划是正确的,为行星采样机械臂的轨迹设计和分析提供了参考依据。In allusion to the trajectory planning of the manipulator for sampling on planets,the kinematics model of the ma⁃nipulator is established according to the D⁃H method to perform the two kinds of trajectory planning of Cartesian space linear in⁃terpolation and circular interpolation,and its motion simulation is carried out with Matlab.A motion simulation program for the sampling manipulator is designed based on MFC and OpenGL.The experiment of trajectory planning of the linear interpolation and circular interpolation was conducted in combination with the motion controller.The experimental results show that the actual motion trajectory of the sampling manipulator is consistent with the trajectory in the motion simulation program,and the forward and inverse kinematics analysis and trajectory planning are correct,which provides a reference for the trajectory design and anal⁃ysis of the manipulator for sampling on planets.

关 键 词：采样机械臂 运动学模型 笛卡尔空间 轨迹规划 插补算法 MATLAB仿真 

分 类 号：TN101-34[电子电信—物理电子学] TP242.3[自动化与计算机技术—检测技术与自动化装置]