| The Kinematics Analysis of the Hydraulic Mine-clearing Mechanical Manipulator |
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| 引用本文： | 谢庆华 段红. The Kinematics Analysis of the Hydraulic Mine-clearing Mechanical Manipulator[J]. 兵工学报(英文版), 2005, 1(1): 113-116 |
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| 作者姓名： | 谢庆华 段红 |
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| 作者单位： | Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu 210016，China Engineering Institution of Engineering Corps，PLA UST，Nanjing Jiangsu 210007，China，No. 5311 Factory of PLA Nanjing Jiangsu 210016，China |
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| 摘 要： | Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for set-ing up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.
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| 关 键 词： | 液压机械手 操作系统 解析运动学 计算仿真 |
The Kinematics Analysis of the Hydraulic Mine-clearing Mechanical Manipulator |
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| XIE Qing-hua,DUAN Hong. The Kinematics Analysis of the Hydraulic Mine-clearing Mechanical Manipulator[J]. Journal of China Ordnance, 2005, 1(1): 113-116 |
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| Authors: | XIE Qing-hua DUAN Hong |
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| Abstract: | Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator. |
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| Keywords: | mechanical manipulator operating system kinematics analysis simulation Mechanical Manipulator feasibility mechanical used engineering equipment platform research theoretical basis optimizing structural parameters operating parameters result working task requirements primary technical specification simulated computer |
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