| 基于D-H坐标系法的移动喷漆机器人运动学分析 |
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| 引用本文： | 梁安阳,王兰美. 基于D-H坐标系法的移动喷漆机器人运动学分析[J]. 机械工程与自动化, 2011, 0(5) |
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| 作者姓名： | 梁安阳 王兰美 |
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| 作者单位： | 山东理工大学机械工程学院;山东理工大学农业工程与食品科学学院; |
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| 摘 要： | 对所设计的可移动喷漆机器人进行了D-H坐标建系,推导出了该机器人的运动学正解,并用解析法进行了验证。根据末端执行器的位置和各连杆的变换矩阵求出了运动学的逆解。
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| 关 键 词： | D-H坐标系 喷漆机器人 运动学分析 运动学逆解 |
Kinematics Analysis of Mobile Painting Robot Based on D-H Coordinate Method |
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| LIANG An-yang,WANG Lan-mei. Kinematics Analysis of Mobile Painting Robot Based on D-H Coordinate Method[J]. Mechanical Engineering & Automation, 2011, 0(5) |
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| Authors: | LIANG An-yang WANG Lan-mei |
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| Affiliation: | LIANG An-yang1,WANG Lan-mei2(1.School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China,2.College of Agriculture and Food Engineering,China) |
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| Abstract: | This paper establishes D-H reference frame for mobile painting robot,obtains forward kinematics of the robot,and verifies it by the analytical method.According to the location of the end effector and the transformation matrixes of the links,inverse kinematics is obtained. |
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| Keywords: | D-H reference frame spray painting robot kinematics analysis inverse kinematics |
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