多机械臂协作空间分析与仿真  

Cooperative Space Analysis and Simulation of Multi Manipulator

作　　者：邹成文 陶平 Zou Chengwen;Tao Ping(Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081

出　　处：《机械传动》2022年第2期78-84,共7页Journal of Mechanical Transmission

摘　　要：针对多机械臂协作系统模型的协作空间及奇异点问题,采用蒙特卡罗法和包络法进行分析。采用标准D-H参数法建立坐标系,在Matlab中建立机器人运动学模型,求出机器人的正运动学方程;采用蒙特卡罗法得到各机械臂的工作空间,采用包络法提取公共区域点,得到多机器人协作系统的协作空间及各个机械臂在协作空间内的关节角范围;提出了一种计算可操作度的算法,根据该算法计算分析了多机械臂在协作空间内的奇异点分布情况。采用Matlab/Robotics工具箱搭建仿真平台,并编写算法进行仿真分析,验证了多机器人协作系统运动学模型的正确性和合理性,证明了所提出的算法的可行性;为后续的协调操作和规避奇异点的轨迹规划奠定基础。Monte Carlo method and envelope method are used to analyze the cooperative space and singular points of multi manipulator cooperative system model.The standard D-H parameter method is used to establish the coordinate system,the kinematics model of the robot is established in Matlab,and the forward kinematics equation of the robot is obtained.The workspace of each manipulator is obtained by Monte Carlo method,the common area points are extracted by envelope method,and the cooperation space of the multi manipulator cooperation system and the joint angle range of each manipulator in the cooperation space are obtained.An algorithm to calculate the operability is presented.According to the algorithm,the singularity distribution of multi manipulator in the cooperative space is calculated and analyzed.The Matlab/Robotics toolbox is used to build the simulation platform,and the algorithm is compiled for simulation analysis,which verifies the correctness and rationality of the kinematics model analysis of the multi robot cooperative system,the feasibility of the proposed algorithm is proved and the foundation for the subsequent coordinated operation and trajectory planning to avoid singular points is laid.

关 键 词：多机械臂协作系统 蒙特卡罗法 包络法 协作空间 可操作度 奇异点 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]