| 五自由度泄漏封堵移动机械臂运动学模型 |
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| 引用本文： | 唐亚鸣,莫静玲,杨刚.五自由度泄漏封堵移动机械臂运动学模型[J].机械研究与应用,2011(4):102-104. |
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| 作者姓名： | 唐亚鸣 莫静玲 杨刚 |
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| 作者单位： | 河海大学机电工程学院,江苏常州,213022 |
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| 基金项目： | 江苏省常州市社会发展项目(CS2008016) |
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| 摘 要： | 泄漏对堵移动机械臂由移动平台和安装在平台上的机械臂组成,建立移动机械臂的运动学模型是设计泄漏封堵移动机械臂的理论基础.根据槽罐泄漏机械臂必须完成的动作,建立了五自由度泄漏封堵移动机械臂运动学模型,利用逆运动学的求解,进行了该模型的Matlab仿真,结果表明该运动学模型是可行的.
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| 关 键 词： | 移动机械手 运动学模型 逆运动学 Matlab仿真 |
Kinematics modeling of 5-DOF mobile manipulator for leak and maintenance |
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| Tang Ya-ming,Mo Jing-ling,Yang Gang.Kinematics modeling of 5-DOF mobile manipulator for leak and maintenance[J].Mechanical Research & Application,2011(4):102-104. |
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| Authors: | Tang Ya-ming Mo Jing-ling Yang Gang |
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| Affiliation: | Tang Ya-ming,Mo Jing-ling,Yang Gang(Mech.Elec.college of Hehai University,Changzhou Jiangsu 213022 Jiangsu China) |
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| Abstract: | A leak and maintenance mobile manipulator is a manipulator mounted on a mobile platform,and kinematics modeling is theoretical basis of designing the leakage and maintenance mobile manipulator.5-DOF kinematics model of mobile manipulator is established under the action which the tank leak manipulator should complete.Based on inverse kinematics results,the model Matlab simulation is made and the result shows that the kinematics model is feasible. |
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| Keywords: | mobile manipulator kinematics model inverse kinematics Matlab simulation |
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