五自由度镀膜机械臂的运动学分析与仿真  

Kinematics Analysis and Simulation of a Five-Degree-of-Freedom Mechanical Arm for Filter Membrane Plating

作　　者：赵修琪 卢继霞[1] 陈相如 薛嘉乐 ZHAO Xiu-qi;LU Ji-xia;CHEN Xiang-ru;XUE Jia-le(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《机械设计与制造》2022年第1期257-261,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51375481)。

摘　　要：以5自由度自动镀膜机械臂为研究对象,运用改进D-H法建立机械臂的运动学方程,并利用数值分析法对正、逆运动学方程进行分析求解。通过Matlab软件中的Robotics Toolbox工具箱对5自由度自动镀膜机械臂建模,蒙特卡洛法工作空间仿真和轨迹规划仿真,得到机械臂的工作空间图和末端执行器的运动轨迹及各关节的角位移、角速度、角加速度相关运动参数随时间变化的曲线。通过分析所得到的仿真结果表明,所设计的5自由度自动镀膜机械臂可以满足微孔滤膜镀覆的工作要求。In this paper,the5 degree of freedom automatic coating robot is taken as the research object.The kinematic equation of the manipulator is established by the improved D-H method,and the forward and inverse kinematic equations are analyzed and solved by numerical analysis.The 5-DOF automatic coating robot is modeled by the Robotics toolbox in Matlab software.The Monte Carlo method workspace simulation and trajectory planning simulation are used to obtain the working space diagram of the robot arm and the motion trajectory of the end effector and the joints.Angular displacement,angular velocity,angular acceleration related motion parameters as a function of time.The simulation results obtained by the analysis show that the designed5-DOF automatic coating robot can meet the working requirements of microporous membrane plating.

关 键 词：机械臂 运动学 工作空间 仿真 

分 类 号：TH16[机械工程—机械制造及自动化]