基于D-H参数法对矿用车载机械臂的运动学分析  

Kinematics Analysis of Mine Mounted Mechanical Arm Based on D-H Parameter Method

作　　者：郑跃鹏 郝成林 Zheng Yuepeng;Hao Chenglin(Shanxi Tiandi Coal Machinery Co.,Ltd.,Taiyuan 030006,China;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;National Engineering Laboratory for Coal Mining and Excavation Machinery Equipment,Taiyuan 030006,China)

机构地区：[1]山西天地煤机装备有限公司,太原030006 [2]中国煤炭科工集团太原研究院有限公司,太原030006 [3]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤矿机械》2023年第7期77-79,共3页Coal Mine Machinery

基　　金：国家重点研发计划子课题(2020YFB1314005);天地科技股份有限公司科技创新创业资金专项项目(2021-TD-2-ZD003)。

摘　　要：随着煤矿智能化进程的不断推进,煤矿机器人的研发引起了科研人员的关注。由于井下作业空间受限、视线较差,使煤矿机器人的研发受到了制约。针对一种矿用车载机械臂展开分析,利用三维软件构建重载机械臂的三维模型,利用D-H参数法建立机械臂运动学模型,完成了机械臂执行端的运动学推导,然后用Monte Carlo法对车载机械臂模型的运动空间进行求解,为密闭空间内矿用车载机械臂的动力学及运动学分析提供了一定研究依据。With the continuous advancement of the intelligent process of coal mines,the research and development of coal mine robots has attracted the attention of scientific researchers.Due to the limited working space and poor vision,the research and development of coal mine robots has been restricted.Analyzed a kind of mining vehicle mounted mechanical arm,used 3D software to build a three-dimensional model of heavy-duty mechanical arm,and used D-H parameter method to build a kinematic model of the mechanical arm.The kinematics derivation of the actuating end of the mechanical arm was completed,and then the motion space of the vehicle mounted mechanical arm model was solved by using Monte Carlo method,which provides a certain research basis for the dynamics and kinematics analysis of the mining vehicle mounted mechanical arm in the confined space.

关 键 词：车载机械臂 D-H参数法 运动学分析 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH113.2[自动化与计算机技术—控制科学与工程]