伤员转运机器人机械臂运动学与动力学分析  

Kinematics and Dynamics Analysis of Mechanical Arm of Casualty Transfer Robot

作　　者：王天赐 郭继录 李艳杰[1] Wang Tianci;Guo Jilu;Li Yanjie

机构地区：[1]沈阳理工大学机械工程学院,沈阳110001

出　　处：《装备机械》2022年第3期53-56,共4页The Magazine on Equipment Machinery

摘　　要：以伤员转运机器人机械臂为研究对象,进行运动学和动力学分析。利用改进DenavitHartenberg法对机械臂进行运动学建模,通过Denavit-Hartenberg参数得到机械臂的运动学正逆解。使用牛顿-欧拉法对机械臂进行动力学建模,在准备抱起伤员过程中对机械臂进行动力学分析,并通过MATLAB软件Simulink模块进行仿真,得到机械臂各关节的速度、加速度和力矩。通过机械臂运动学和动力学分析,为后续选取电机提供参考。The mechanical arm of the casualty transfer robot was used as the research object to conduct kinematic and dynamic analysis. The kinematic modeling of the mechanical arm was carried out by the improved Denavit-Hartenberg method,and the kinematic positive and reverse solution of the mechanical arm was obtained by the Denavit-Hartenberg parameters. The mechanical arm was modeled using the Newton-Euler method,the mechanical arm was dynamically analyzed during preparation process for picking up the wounded man,and the MATLAB software Simulink module was used to simulate and obtain the speed,acceleration and torque of each joint of the mechanical arm. Through the kinematic and dynamic analysis of the mechanical arm,it provides a reference for the later selection of the motor.

关 键 词：机器人 机械臂 运动学 动力学 分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]