摘要
设计了一种通用型三自由度机械臂,该机械臂的3个转动自由度相互垂直。详细设计了各关节的传动方案,并建立了系统的三维模型。根据机械臂的结构特点,建立了机械臂的D-H坐标系,对其进行正运动学分析。最后利用蒙特卡洛法对该机械臂的工作空间进行分析,得到机械臂末段执行器的工作空间,仿真结果与机械臂的设计参数相符,为该机械臂的优化设计及逆运动学分析奠定了基础。
A general robot with three degree of freedoms（ DOFs） is designed and the DOFs are mutual vertical. First,the transmission schemes of each joint were detailed designed according to the requirements and the three-dimensional（ 3 D） model of the system was built. Second,according to the structural characteristics of the manipulator,the Denavit-Hartenberg（ D-H） coordinate was obtained and its forward kinematics analysis was done. Last,the Monte Carlo method was applied to analyze the manipulator workspace,and the workspace range of the manipulator end actuator acquired. The simulation result is consistent with the design parameters of the manipulator,which will make a well foundation for the optimal design and inverse kinematics analyses of the manipulator.
作者
杨帆
吴贺利
罗晨晖
YANG Fan;WU Heli;LUO Chenhui(Mechanical and Electrical Engineering Department of City College,Wuhan University of Science andTechnology,Wuhan Hubei 430083,Chin)
出处
《机床与液压》
北大核心
2018年第9期89-92,共4页
Machine Tool & Hydraulics
