五自由度小型示教机械臂设计 |
| |
引用本文: | 朱鹏程,付乐,陈吉安,吴庆和. 五自由度小型示教机械臂设计[J]. 机床与液压, 2019, 47(23): 111-115 |
| |
作者姓名: | 朱鹏程 付乐 陈吉安 吴庆和 |
| |
作者单位: | 江苏科技大学机械工程学院,江苏镇江,212003 |
| |
摘 要: | 设计了一种五自由度的机械臂,为了解决运动学分析结果不易验证以及在实际本体上实验成本较高的问题,制作了一套简易五自由度小型示教机械臂模型。通过D-H法对机械臂运动学进行分析,然后在MATLAB上执行运动学仿真,运用蒙特卡罗法对示教机械臂的工作空间进行求解,仿真结果验证了预期设计目标。此外,对机械臂轨迹规划、运动仿真进行实验验证,实际结果与运动学分析的结果保持一致。
|
关 键 词: | 五自由度 机械臂 运动学分析 轨迹规划 |
Design of Small Teaching Robot Arm with Five Degrees of Freedom |
| |
Abstract: | In order to solve the problem that the results of kinematics analysis are not easy to verify and the test cost is high on the real body, a simple five degrees of freedom(5-DoF) small model for teaching the robot arm is developed. The kinematics of the robot arm were analyzed by the D-H method, and then the kinematics simulation was carried out using MATLAB. Based on the Monte Carlo method, the working space of the robot arm was solved. Finally, the simulation results verified the expected design goals. In addition, physical experiments are carried out on the trajectory planning and motion simulation of the robot arm. The actual results also verify the consistency of kinematics analysis. |
| |
Keywords: | Five degrees of freedom Robot arm Kinematics analysis Track planning |
本文献已被 CNKI 万方数据 等数据库收录! |
| 点击此处可从《机床与液压》浏览原始摘要信息 |
|
点击此处可从《机床与液压》下载全文 |
|