桌面型607机械臂工作空间及奇异位形分析  

Workspace and Singularity Analysis of Desktop 607 Manipulator

作　　者：张倩玉 张宇[1] 陈昊然 段昊宇翔 Zhang Qianyu;Zhang Yu;Chen Haoran;Duan Haoyuxiang(Faculty of Mechanical&Electrical Engineering,Kunming University of Science&Technology,Kunming City,Yunnan Province 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南省昆明市650500

出　　处：《农业装备与车辆工程》2022年第9期37-42,共6页Agricultural Equipment & Vehicle Engineering

基　　金：云南省科技技术厅重点研发项目(2018BA070)。

摘　　要：对桌面型607串联机械臂进行工作空间和奇异位形分析。首先运用标准的D-H参数法求出正运动学方程的解,并对其验证;然后用MATLAB编程对其工作空间进行仿真分析;最后利用微分变换法求出雅可比矩阵,得到奇异位形情况,并用MATLAB对奇异位形进行验证。分析结果表明:此机械臂主要存在3种奇异位形,为此类机械臂避免奇异位形算法的研究提供参考。The workspace and singular posture analysis of the desktop 607 tandem robotic arm is performed.Firstly,the standard D-H parametric method is applied to find the solution of the forward kinematic equation and verify it;secondly,MATLAB is programmed to simulate the workspace;finally,the differential transformation method is used to find the Jacobi matrix and obtain the singular posture case,and MATLAB is used to verify the singular posture.The analysis results show that there are mainly three kinds of singular postures in this robot arm,which provides a reference value for the research of the algorithm to avoid singular postures in this robot arm.

关 键 词：桌面型607机械臂 工作空间 奇异位形 雅可比矩阵 MATLAB 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]