一种8自由度空间机械臂运动学及工作空间分析  

Kinematics and Workspace Analysis of an 8-DOF Space Manipulator

作　　者：杨凯[1] 黄晋英[1] Yang Kai;Huang Jinying(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2021年第3期147-152,共6页Journal of Mechanical Transmission

摘　　要：针对太空环境,提出一种带有移动副的8自由度机械臂,可完成太空环境中的设备维修、物品抓取等工作。通过标准D-H参数法,推导了8自由度机械臂的位姿变换矩阵和正运动学方程;利用MatlabRobotics工具箱,建立机械臂的仿真模型,将仿真模型与机械臂运动学方程进行对比验证;采用蒙特卡罗法对机械臂工作空间进行求解,绘制了机械臂末端执行器的工作空间点云图;通过Matlab对机械臂进行轨迹规划仿真研究,绘制运动过程中各关节的位移、速度、加速度变化曲线,验证了机械臂结构设计的合理性,为后续的研究工作提供参考依据。An 8-DOF manipulator with prismatic pair is proposed for space environment,which can complete equipment maintenance and object grabbing in space environment.The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method.The simulation model of the manipulator is established by Matlab robotics toolbox,and the simulation model is compared with the kinematics equation of the manipulator.Monte Carlo method is used to solve the workspace of the manipulator,and the point cloud of the workspace of the end effector of the manipulator is drawn.The trajectory planning of the manipulator is simulated by Matlab,and the displacement,velocity and acceleration curves of each joint in the motion process are drawn.The rationality of the structure design of the manipulator is verified,it provides a reference for the follow-up research work.

关 键 词：8自由度机械臂 正向运动学 工作空间 蒙特卡洛法 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] V441[自动化与计算机技术—控制科学与工程]