摘要
针对所设计的的六自由度矿用机械臂运用D-H方法建立运动学模型,在MATLAB中进行运动学分析;通过蒙特卡洛方法对其进行工作空间分析,得到机械臂工作空间云图;采用三次插值的方法对机械臂进行轨迹规划。结果表明,机械臂参数设计合理,工作空间直观准确,为机械臂进一步优化提供了参考依据。
Aiming at the six degrees of freedom for mining manipulator designed by using the D-H method to establish the kinematics model,kinematics analysis was carried out in MATLAB. The working space of the manipulator was analyzed by Montecarlo method,and the cloud map of the working space of the manipulator was obtained.The trajectory planning of the manipulator was carried out by cubic interpolation.The results show that the design of the parameters of the manipulator is reasonable and the working space is intuitive and accurate,which provides a reference for further optimization of the manipulator.
作者
李金良
舒翰儒
董博
徐磊
Li Jinliang;Shu Hanru;Dong Bo;Xu Lei(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)
出处
《煤矿机械》
北大核心
2020年第5期80-83,共4页
Coal Mine Machinery
基金
国家重点研发计划(2018YFC0604702)
山东省中青年科学家科研奖励基金资助项目(ZR2018BEE014)。
关键词
机械臂
运动学分析
蒙特卡洛方法
轨迹规划
manipulator
kinematics analysis
Montecarlo method
trajectory planning
