摘要
在机械手和空间机构分析时,D-H分析法使用广泛。但是在建立D-H坐标时,中间连杆有两个关节,连杆的坐标是建在前关节还是后关节上,该问题会引起理解和处理的困扰。在明确了D-H法及其参数含义的基础上,通过两种不同位置D-H坐标的建立和分析对比,说明了两种方法是完全等价的。通过实例,分析对比了两种方法的D-H参数表和运动学方程,总结出在D-H法分析时D-H坐标选择方法和注意事项。
D-H method is used widely when analyzing robots and spatial mechanism. However, the fact that there are two joints in middle connecting rod has caused difficulty in understanding and handling in terms of building the linkage＇ coordinate on the previous or rear joint. On the basis of clarifying the parametric implication, the study has tried building and comparing two methods. It shows that the two methods have achieved equal results. Through examples, the study analyzes D-H parameter list and kinematical equation with the two methods and comes up with D-H coordination selection method when applying D-H coordinates analysis.
出处
《陕西理工学院学报（自然科学版）》
2016年第6期24-28,46,共6页
Journal of Shananxi University of Technology:Natural Science Edition
基金
陕西省教育厅科研计划项目(2013JK1038)
陕西理工学院研究生教改项目(SLGYJG1510)
关键词
D-H坐标
关节
参数表运动方程
D-H coordinates
joint
parameter list
kinematical equation
