矿山爆破机器人运动学分析与轨迹规划  

Kinematic Analysis and Trajectory Planning of Mine Blasting Robot

作　　者：许雪文 张新[1] 施永平 张涛[2] 汪键 Xu Xuewen;Zhang Xin;Shi Yongping;Zhang Tao;Wang Jian(College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001 [2]合肥工业大学机械工程学院,合肥230009

出　　处：《煤矿机械》2024年第7期80-83,共4页Coal Mine Machinery

基　　金：深部煤矿采动响应与灾害防控国家重点实验室开放基金项目(SKLMRDPC22KF23)。

摘　　要：为了提高矿山爆破机器人在抓取搬运炸药时的精度和平稳性,以五自由度机械臂为研究对象,研究了机械臂轨迹规划方法。首先,在SolidWorks中建立三维模型,通过D-H参数法建立运动学模型,并完成正逆运动学分析;然后,运用五次多项式插值法进行轨迹规划;最后,在MATLAB中进行仿真。仿真结果表明,角位移、角速度、角加速度变化曲线连续平滑无突变现象;该方法能够有效地规划五自由度机械臂的运动轨迹,提高其在抓取、搬运炸药时的工作效率。In order to improve the accuracy and stability of the robot when grabbing and transporting explosives,a manipulator trajectory planning method was studied using the 5-DOF manipulator as the research object.Firstly,3D model was established in SolidWorks,a kinematic model was established through the D-H parameter method,and forward and inverse kinematics analysis was completed.Then,the fifth-degree polynomial interpolation method was used for trajectory planning.Finally,simulation was performed in MATLAB.The simulation results show that the angular displacement,angular velocity,and angular acceleration curves were continuously smooth and without sudden changes.This method can effectively plan the motion trajectory of the 5-DOF manipulator and improve work efficiency when grabbing and carrying explosives.

关 键 词：五自由度机械臂 运动学分析 轨迹规划 五次多项式插值 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]