七自由度模块化机械臂工作空间优化研究  

Research on Workspace Optimization of 7-DOF Modular Manipulator

作　　者：郑威特 杨阳 王大中[1] 王琦 许凯元 ZHENG Wei-te;YANG Yang;WANG Da-zhong;WANG Qi;XU Kai-yuan(Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学,上海201620

出　　处：《电脑知识与技术》2021年第28期144-148,共5页Computer Knowledge and Technology

摘　　要：针对两种长度相同构型不同的七自由度模块化机械臂,研究其工作范围的空间优化问题。首先运用了DH法则进行手臂结构建模,得到了正运动学模型并分析了位姿变换矩阵;在模拟仿真软件的基础上,构造了双臂的结构,利用蒙特卡罗方法求解了工作空间,并利用软件绘制了两种手臂构型的三维工作空间;最后利用数据指标对比分析两种手臂构型的工作空间以及结构效率,比较了两种机械臂构形的差异,获得最优构型,为进一步研究机械手最优构型以及优化工作空间奠定了基础。Aiming at two kinds of 7-DOF modular manipulators with the same length and different configurations,the space optimi⁃zation of their working range is studied.Firstly,DH rule is used to model the arm structure,the forward kinematics model is ob⁃tained,and the pose transformation matrix is analyzed;Based on the simulation software,the structure of the two arms is construct⁃ed,the workspace is solved by Monte Carlo method,and the three-dimensional workspace of the two arm configurations is drawn by the software;finally,the workspace and structural efficiency of the two arm configurations are compared and analyzed by using the data index,and the differences between the two arm configurations are compared,so as to obtain the most efficient results The optimal configuration lays a foundation for the further study of the optimal configuration of manipulator and the optimization of workspace.

关 键 词：DH法则 蒙特卡洛法 七自由度机械手 工作空间优化 三维仿真工作空间 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]