自动充电机械臂运动学分析与样机试验

为了解决电动汽车自动充电过程中机械臂运动的稳定性以及定位精度的问题,利用ADAMS仿真软件对所设计的机械臂进行运动学仿真;根据D-H方法建立了机械臂运动学模型,通过蒙特卡洛方法分析了该机械臂的工作空间,利用MATLAB对机械臂工作空间进行求解,得到自动充电机械臂末端工作空间点云图。根据所设计的机械臂进行样机研制,并进行机械臂样机试验。结果表明,自动充电机械臂结构可行,运动合理,能够满足自动充电工作时的功能需求。该文的研究为机械臂的优化设计与运动控制提供了参考。

The Kinematics Analysis and Prototype Test of Automatic Charging Robot Arm

In order to solving the problem of the stability of the arm movement and the positioning accuracy during the automatic charging process of electric vehicles,the kinematics simulation of the manipulator is carried out on ADAMS simulation platform.The kinematics model of the manipulator is established according to the D-H method.The working space of the manipulator is analyzed by Monte Carlo method.The point cloud image of the working space of the end of the automatic charging robot arm is obtained by solving the working space of the arm with MATLAB.According to the designed robot arm,the prototype is developed and the mechanical arm prototype experiment is carried out.The results show that the structure of the automatic charging robot arm is feasible and the motion is reasonable,which can meet the functional requirements of automatic charging work.The research in this paper provides a reference for the optimization design and motion control of the manipulator.