| 六自由度矿用机械臂的运动学分析 |
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| 引用本文： | 李金良,舒翰儒,董博,徐磊.六自由度矿用机械臂的运动学分析[J].煤矿机械,2020,41(5):80-83. |
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| 作者姓名： | 李金良 舒翰儒 董博 徐磊 |
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| 作者单位： | 山东科技大学机械电子工程学院,山东青岛266590 |
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| 基金项目： | 国家重点研发计划;山东省中青年科学家科研奖励基金资助项目 |
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| 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。
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| 关 键 词： | 机械臂 运动学分析 蒙特卡洛方法 轨迹规划 |
Kinematics Analysis of Six Degrees of Freedom for Mining Manipulator |
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| Li Jinliang,Shu Hanru,Dong Bo,Xu Lei.Kinematics Analysis of Six Degrees of Freedom for Mining Manipulator[J].Coal Mine Machinery,2020,41(5):80-83. |
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| Authors: | Li Jinliang Shu Hanru Dong Bo Xu Lei |
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| Affiliation: | (College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China) |
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| Abstract: | 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. |
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| Keywords: | manipulator kinematics analysis Montecarlo method trajectory planning |
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