七自由度湿喷机械臂运动学建模与研究  

Kinematic Modeling and Research of a Seven-degree-of-freedom Wet Spraying Robotic Arm

作　　者：魏波 燕盈萍 刘翔 刘云龙 凌涛 尹来容 Wei Bo;Yan Yingping;Liu Xiang

机构地区：[1]中铁五局集团第一工程有限责任公司 [2]“工程车辆安全性设计与可靠性技术”湖南省重点实验室 [3]长沙理工大学汽车与机械工程学院

出　　处：《工程机械》2024年第3期38-45,I0012,共9页Construction Machinery and Equipment

基　　金：国家自然科学基金(52175003);湖南省湖湘青年英才(2020RC3035);湖南省研究生科研创新项目(QL20210195)。

摘　　要：以七自由度湿喷机械臂为研究对象,对其进行运动学特性的研究。建立湿喷机械臂的运动学模型,得到七自由度机械臂的运动学方程。运用MATLAB软件研究机械臂在关节空间中的轨迹规划,采用数值法求解机械臂的工作空间。运用ADAMS软件建立机械臂的仿真模型,对机械臂进行运动学仿真,得到机械臂末端的运动曲线。建立各关节运动参数间的转换关系,验证运动学方程的正确性。仿真结果表明机械臂能够完成预定的运动轨迹,可达到宽12m、高11 m的工作空间,机械臂运动平稳,连续性好。A seven-degree-of-freedom wet spraying robotic arm is taken as the research object,and its kinematic characteristics are studied.A kinematic model of the wet spraying robotic arm is established to obtain the kinematic equation of the seven-degree-of-freedom robotic arm,software MATLAB is applied to study the trajectory planning of the robotic arm in the joint space,numerical method is used to solve the workspace of the robotic arm,software ADAMS is applied to establish a simulation model of the robotic arm,and kinematic simulation of the robotic arm is carried out to obtain the motion curve of the end of the robotic arm.The conversion relationship between the motion parameters of each joint is established to verify the correctness of the kinematic equation.The simulation results show that the robotic arm can complete the predetermined motion trajectory,can reach a workspace of 12 m in width and 11 m in height and moves smoothly with good continuity.

关 键 词：运动学研究 D-H法 湿喷机械臂 七自由度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TU60[自动化与计算机技术—控制科学与工程]