车载碎石采集液压机械臂运动学分析  

Kinematics Analysis of Hydraulic Arm for Vehicle Gravel Acquisition

作　　者：陈光明[1] 黄伟 骆敏舟 孔浩然 CHEN Guang-ming;HUANG Wei;LUO Min-zhou;KONG Hao-ran(Institute of Technology,Nanjing Agricultural University,Nanjing Jiangsu 210031,China;Institute of Intelligent Manufacturing Technology,Jiangsu Industrial Technology ResearchInstitute,Nanjing Jiangsu 211800,China)

机构地区：[1]南京农业大学工学院,江苏南京210031 [2]江苏省产业技术研究院智能制造技术研究所,江苏南京211800

出　　处：《机械研究与应用》2022年第5期94-97,共4页Mechanical Research & Application

摘　　要：针对地震后地面上残留的大量碎石、铁片的清理问题,设计了一款装于履带底盘上,用于抓取地面上碎石、铁片的五自由度液压机械臂。以设计的液压机械臂为基础,采用有别于传统标准DH法的修正DH法搭建机械臂的运动学数学模型,分析机械臂的正运动学和逆运动学。在MATLAB中采用八点极限值的方法验证机械臂抓取可达性,利用蒙特卡洛法分析机械臂的运动空间,为之后液压机械臂的研究提供了理论依据。Aiming at the cleaning problem of large amount of gravel and iron sheet left on the ground after earthquake,a 5-DOF hydraulic manipulator mounted on the crawler chassis is designed to grab the gravel and iron sheet on the ground.Based on the designed hydraulic manipulator,the modified DH method,which is different from the traditional standard DH method,is used to build the kinematics mathematical model of the manipulator,and the forward kinematics and inverse kinematics of the manipulator are analyzed.In MATLAB,the eight-point limit value method is used to verify the grasping accessibility of the manipulator,and the Monte Carlo method is used to analyze the movement space of the manipulator,which provides a theoretical basis for the subsequent research of hydraulic manipulator.

关 键 词：五自由度液压机械臂 Modified-DH模型 运动学 蒙特卡洛法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]