摘要
根据飞机表面清洗机器人的非结构化特征,设计了一种带平移自由度的六自由度机械臂。运用改进的D-H法建立5R1T型机器人机械臂的连杆坐标系,推导出了正运动学方程;采用基于正向运动学的解析法求解出逆向运动学;利用Matlab对正、逆运动学以及工作空间进行了仿真。仿真结果表明:结构设计及参数设置能较好地满足工作空间要求。
By analyzing unstructured characteristics of the aircraft surface, we innovative designed 6 DOFs mechanical manipulators with one prismatic DOF, and the link＇s coordinates of 5R1T mechanical manipulator were established with improved D＆H methods. Then, the direct kinematics were deduced,the inverse kinematics problem were solved with the analytical method based on direct kinematics. Next, Programming in the Matlab software according to the direct kinematics, inverse kinematics and workspace. The simulation results show that structure design and its parameter satisfies workspace well.
出处
《机床与液压》
北大核心
2013年第12期33-37,共5页
Machine Tool & Hydraulics
基金
Supported by Undergraduate’Innovative Training Program(201210059028)
