六自由度机械臂若干基本问题的研究  

Study on Some Basic Problems of Six-Degree-of-Freedom Robotic Arm

作　　者：侍昊[1] 金鼎森 俞言骐 冯锋意 Shi Hao;Jin Dingsen;Yu Yanqi;Feng Fengyi(Nanjing Forestry University,Nanjing Jiangsu 210037,China;College of Mechanical Engineering,Southeast University,Nanjing Jiangsu 211189,China)

机构地区：[1]南京林业大学,江苏南京210037 [2]东南大学机械工程学院,江苏南京211189

出　　处：《机械管理开发》2024年第4期19-22,25,共5页Mechanical Management and Development

摘　　要：六自由度机械臂作为一种重要的工业自动化设备,其应用越来越广泛,基于此,分析了近几年我国六自由度机械臂的研究文献,探讨了当下该领域研究的主流方向和相应的研究方法,总结了部分研究的创新之处.通过分析研究方法中的异同,结合市场调研结果指出了当下六自由度机械臂研究中存在的一些问题,总结为动力学问题、控制问题、感知问题、精度问题及软硬件集成问题,并根据当下研究成果针对每个问题提出了改进措施,最后对未来六自由度机械臂发展方进行了展望.As an important industrial automation equipment,six-degree-of-freedom robotic arm has been more and more widely used.Based on this,the research literature on six-degree-of-freedom robotic arm in China in recent years is analysed,the mainstream direction of the current research in this field and the corresponding research methods are discussed,and the innovations of some of the researches are summarized.By analysing the similarities and differences in the research methods,combined with the results of market research,it points out some problems in the research of six-degree-of-freedom robotic arm,which are summarized as dynamics,control,perception,accuracy and hardware and software integration,and puts forward the improvement measures according to the results of the current research for each problem,and finally looks forward to the development of six-degree-of-freedom robotic arm in the future.

关 键 词：六自由度机械臂 动力学模型 轨迹规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]