耐环境机械臂的仿真模型与轨迹规划研究  

Research on Simulation Model and Trajectory Planning of Environment-Resistant Robot Arm

作　　者：孔德凯 谭辉 张丽华[1] 任德彬 张媛媛 段绪章 KONG De-kai;TAN Hui;ZHANG Li-hua;REN De-bin;ZHANG Yuan-yuan;DUAN Xu-zhang(Northwest Institute of Mechanical and Electrical Engineering,Xianyang 712099)

机构地区：[1]西北机电工程研究所,咸阳712099

出　　处：《环境技术》2023年第12期128-133,共6页Environmental Technology

摘　　要：在对产品进行气候环境试验过程中,密闭试验箱内被试品的操作需求目前尚无成熟措施,可能造成被试品试验不充分、考核不全面等问题。针对该问题提出一种可实现在密闭箱体内操控被试品的耐环境机械臂,本文主要对机械臂的运动学原理进行分析,通过MATLAB工具建立机械臂仿真模型,并对机械臂的各关节运动轨迹采用五次多项式插值算法进行规划,验证该机械臂完成目标动作的稳定性。由仿真结果可知,本文所设计的机械臂适用于密闭的环境试验箱内,能够平稳的完成指定动作。In the process of conducting climate and environmental tests on products,there is currently no mature measure for the operational requirements of the test objects in the sealed test box,which may cause problems such as insufficient testing and incomplete assessment of the test objects.To address this issue,an environmentally-resistant robotic arm that can be used to manipulate the test object in a closed box is proposed.This article mainly analyzes the kinematic principle of the robotic arm,establishes a simulation model of the robotic arm using MATLAB tools,and plans the motion trajectory of each joint of the robotic arm using a quin tic polynomial interpolation algorithm to verify the stability of the robotic arm in completing the target action.From the simulation results,it can be seen that the robotic arm designed in this article is suitable for enclosed environmental test boxes and can smoothly complete the specifie d actions.

关 键 词：气候环境试验 机械臂 运动学仿真 轨迹规划 

分 类 号：TH113.22[机械工程—机械设计及理论]