| 一种新型水下作业机械手的研究 |
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| 引用本文： | 朱建新,杨成云.一种新型水下作业机械手的研究[J].机械工程师,2004(2):55-57. |
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| 作者姓名： | 朱建新 杨成云 |
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| 作者单位： | 中南大学,机电工程学院智能机械研究所,湖南,长沙,410083 |
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| 摘 要： | 设计了一种可用于水下3000m作业的7自由度机械手；运用机器人运动学理论中的D—H参数法建立了机械手的运动学模型，并详细描述了该机械手的工作空间；然后用蒙特卡洛法并借助MATLAB对其工作空间进行了求解与仿真。
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| 关 键 词： | 水下机械手 运动学分析 工作空间分析 |
| 文章编号： | 1002-2333(2004)02-0055-03 |
| 修稿时间： | 2003年9月21日 |
Research on a New Underwater Manipulator |
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| ZHU Jian-xin-YANG Cheng-yun.Research on a New Underwater Manipulator[J].Mechanical Engineer,2004(2):55-57. |
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| Authors: | ZHU Jian-xin-YANG Cheng-yun |
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| Affiliation: | Mechanical and Electrical Engineering College Central South University-Changsha410083-China |
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| Abstract: | This article designed a seven free-degree manipulator that can work at the depth of three kilometers under water-and established a kinematics model for the manipulator on the kinematics theory of robots.Then-the working space of the manipulator are described in detail.At last-the article computed and simulated the working place of the manipulator by MATLAB software according to the Mentekalo Theory. |
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| Keywords: | underwater manipulator kinematics model working place |
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