一种6自由度机械臂的结构设计和运动学分析  

Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

作　　者：潘明章 王硕 李劲 梁科 Pan Mingzhang;Wang Shuo;Li Jing;Liang Ke(School of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机械传动》2024年第6期50-57,共8页Journal of Mechanical Transmission

基　　金：广西科技基地和人才专项(2021AC19324)。

摘　　要：针对传统机械臂惯性大、灵活性低和难以在狭小空间作业的问题,设计了一种新型的具有6自由度的丝传动机械臂,并对其正逆运动学等问题进行了研究。对该新型机械臂中的自转关节、平行四边形关节和蛇形关节的运动学特性进行分析,建立了该机械臂的正逆运动学模型;在Matlab环境中进行仿真实验,对所提出的正逆运动学模型进行了位置和姿态的验证。结果表明,所提的运动学模型能够很好地用于该机械臂末端位置控制。最后,利用蒙特卡洛法计算出了机械臂的工作空间。Aiming at the problems of large inertia,low flexibility and difficulty in working in narrow space of traditional manipulators,a new type of wire-driven manipulator with 6-DOF is designed,and its forward and inverse kinematics are studied.The kinematics characteristics of the rotation joint,parallelogram joint and snake joint in the new manipulator are analyzed,and the forward and inverse kinematics models of the manipulator are established.The simulation experiment is carried out in Matlab environment,and the position and posture of the proposed forward and inverse kinematics model are verified.The results show that the proposed kinematics mod-el can be well used for the end position control of the manipulator.Finally,the workspace of the manipulator is calculated by the Monte Carlo method.

关 键 词：丝传动机械臂 运动学 仿真分析 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]